Tuning the Damiao-actuated neck at my desk

Fig 1: Tuning the Damiao-actuated neck at my desk

My first single-joint teleoperation test with CAN FD-controlled HighTorque actuators

Fig 2: My first single-joint teleoperation test with CAN FD-controlled HighTorque actuators

Testing gravity compensation on the new arm prototypes for the first time

Fig 3: Testing gravity compensation on the new arm prototypes for the first time

Teleoperating with the leader arms I helped bring up

Fig 4: Teleoperating with the leader arms I helped bring up

ROBOT TELEOPERATION & CONTROLS

Internship Project

Arm integration, Ethernet teleoperation, and headset-driven neck controls.

Date 08 September 2026

Role Controls Engineer — Mundane Systems Inc.

Skills C++, Python, ROS 2, Pinocchio, URDF, CAN FD, Gravity compensation, PD control, Hardware integration

At Mundane Systems, I helped bring new robot arms into the existing leader–follower system and tuned the headset-driven neck.

Arm bring-up

Integrated new URDFs and calibrated joint mappings, encoder directions, offsets, and torque limits for the new seven-DOF HighTorque arms.
Tuned Pinocchio gravity compensation through single-joint and full-arm float tests, supporting 1 kHz local control over CAN FD.
Characterized Coulomb friction and developed compensation profiles; some joints still needed validation.

Ethernet teleoperation

Configured cross-machine ROS 2 communication, clock synchronization, and launch and diagnostic tools.
Fixed a tracking bug where the 1 kHz controller mistook normal gaps in the ~100 Hz reference stream for dropouts. Holding the latest target between updates restored tracking.

Headset-driven neck

Converted headset orientation into calibrated joint targets for the three-DOF Damiao neck.
Tuned PD control, orientation smoothing, and velocity/acceleration limits for smoother motion.
Fitted sinusoidal gravity feedforward and built calibration and motion-logging tools.

Check out our customers testing the system at NECA 2026 →

© 2026 Brady Y. Lin