Baucom Robotics

A personal blog from Alex Baucom documenting various projects with a focus on robotics and technology.

The Origin Story This whole project started in May of 2019 when I attended Maker Faire (RIP) in the Bay Area and went to a talk featuring Mark Rober. Me at Maker Faire 2019 attending Mark Rober's talk. During this talk, someone asked Mark a question about

The final hardware of 'Dominator' the Domino Robot has a lot of parts to it. The main body is built from an 80/20 frame with a steel base plate which the drive system is mounted to. There is a large tray on the front of the robot that is used to hold 300

The software for the Domino Robot project is the largest solo software project I have done to date. It runs across three computers and contains almost 15,000 lines of code. The architecture of the project itself evolved rather organically as the scope and

Motivation One of the core software components needed for the Domino Robot was a method of generating a trajectory for the robot to follow. As far as trajectory generation goes, this case was quite simple as the robot has omni-directional drive, only need

Since the Domino Robot and all its hardware and software were custom designed, this meant that I also needed to design a custom control system from the ground up. The diagram below shows all of the major components of the control system and I will explain