Project Detail
MAE 148 – Autonomous Trash Can Retrieval Robot
Mechanical subsystem leadership for a field-tested autonomous robotics platform
UCSD MAE 148Mechanical Lead1/2026 – Present
Led mechanical subsystem design within a six-member interdisciplinary robotics team building an autonomous trash can retrieval system. The project required mechanical design, actuator integration, navigation coordination, and iterative field debugging.
Team
6-member interdisciplinary robotics team
Subsystem
5-axis arm + mobile platform
Testing
Outdoor iteration and control tuning
Tools Used
SolidWorksROSGPS NavigationPID ControlMechanical Fabrication
Engineering Challenges
- Designing a custom 5-axis robotic arm that remained rigid enough for repeatable motion while staying manufacturable and serviceable.
- Integrating mechanical systems with GPS path tracking, PID loops, and the ROS navigation stack without creating unstable cross-coupling.
- Tuning drivetrain geometry and steering response so the robot could track paths reliably during outdoor field tests.
Design Approach
- Designed and fabricated a custom 5-axis robotic arm with attention to kinematic layout, actuation control, and structural stiffness.
- Integrated mechanical systems with GPS path tracking, PID control loops, and ROS-based navigation.
- Iterated drivetrain geometry and steering configuration based on field-test observations instead of freezing the design early.
Validation / Testing
- Used iterative field testing to measure steering response and path tracking error.
- Improved tracking accuracy through integrated system testing and controller tuning.
- Validated subsystem interactions by observing how mechanical changes affected navigation and closed-loop control.
Results / Impact
- Created a more robust mechanical foundation for the autonomous retrieval platform.
- Improved field tracking behavior through repeated mechanical and controls iteration.
- Demonstrated the ability to lead mechanical execution inside a multidisciplinary autonomy project.
Next Steps
- Further refine arm dynamics and end-effector behavior for more reliable retrieval.
- Increase path tracking consistency through tighter actuator characterization and tuning.
- Package the platform more cleanly for repeatable deployment and maintenance.
Project Media
Replace with test footage, CAD renders, GitHub links, or experiment media when available.