Lead Architect · Engineering Capstone
Robotic Service Dog
2025–2026An autonomous quadruped that follows and monitors Alzheimer's patients.
- ROS2
- C++
- Python
- OpenCV
- Inverse Kinematics
- visual servoing
- Docker
- platform
- 8-DOF quadruped
- control loop
- visual servoing
/ the problem
Assistive robotics for dementia care needs reliable person-following and health monitoring on a legged platform — many interacting subsystems that must stay in sync in real time.
/ approach
- Distributed ROS2 stack integrating perception, planning, and control
- Closed-loop visual servoing: OpenCV state estimates → velocity commands → adaptive human tracking
- Developed a 3-DOF inverse-kinematics solver for the legs; froze the hip joint in the final build to run 2 active DOF per leg (8-DOF quadruped)
- Custom ROS2 QoS profiles for deterministic multi-node communication
- C++ camera + actuator drivers integrated with the full stack; Dockerized team dev environment
/ results
- End-to-end person-following on a physical quadruped
- Led the system architecture across the capstone team
/ architecture
Perception (OpenCV)
Planning
Control (IK, servo)
on a ROS2 graph with custom QoS.