Chemin Ahn | Robotics Engineer

Hi, I'm Chemin Ahn.

Interests:

I'm Robotics Engineer

Major: Robotics

Lab: Robotics Innovatory

MS: Sungkyunkwan University - Mechanical Engineering (Ongoing)

BS: Chungang University - Mechanical Engineering

About

I am a Master’s student in Mechanical Engineering at Sungkyunkwan University, specializing in Robotics. My research interests lie in Imitation Learning and Robotics Control, with a current focus on dual-arm robot learning and control using imitation-based methods. Previously, I interned at Doosan Robotics in the Robot Control Team, gaining hands-on experience in industrial robot systems. I primarily work with Python, ROS/ROS2, and MATLAB for robotics development.

My past projects include:

1. Development of a visual servoing package.
2. Design an autonomous mobile robot and Compare the algorithms.
3. Pharmaceutical preparation and delivery system using a manipulator and AMR.
4. Design of a passive wearable upper-limb assistive suit.
5. Autonomous drone navigation.

Skills: Python, MATLAB, ROS, ROS2
Libraries: NumPy, Pandas, OpenCV, Pytorch, matplotlib
Simulation Tools: IsaacSim & IsaacLab, Gazebo
Using Robot: Universal Robots, Doosan Robotics, Raninbow Robotics
Tools & Technologies: Git, SOLIDWORKS
Interests: Robotics, Imitation Learning, Reinfocement Learning, Computer Vision
Military Service: ROK Army - Sergeant (May 2021 ~ Nov 2022)

Experience

Doosan Robotics

Robot Control Team Intern

Developed visual servoing package based on ROS2.
doosan-robot2_visualservoing Package
Tools: Python, ROS2, Gazebo, SDF

July 2024 - Oct 2024 | Sungnam, Korea

Projects

                
Create Visual Servoing Package
                  Enable Visual Servoing based on ROS2
                
AccomplishmentsTools: Python, ROS2, SDF, Gazebo
Generate sim using SDF
Execute visual servoing on sim
Also execute visual servoing on real-world
All nodes are built by Python

Autonomous Medication Preparation Assistant
                  Designed a robot system to assist with drug prep and autonomous delivery.
                
AccomplishmentsTools: Python, C++, ROS1, Streamlit, Arduino, MATLAB
Verified patient information and retrieved prescribed medication list.
Used a manipulator to prepare the corresponding medications.
Loaded prepared medications onto an autonomous mobile robot
Delivered medications directly to the patient’s location.

Autonomous mobile robot
                  Designed an self-made autonomous mobile robot.
                
AccomplishmentsTools: Python ,C++, ROS1, LIDAR, Arduino, Rasberry Pi
Built an self-made autonomous mobile robot using Raspberry Pi, Arduino Mega, encoder motors, and a 2D LIDAR.
 Implemented the ROS Navigation Stack
 Integrated two SLAM algorithms (GMapping, Hector) and two local planners (TEB, DWA).
 Compared four combinations in terms of navigation performance and stability.