Overview
A cable-suspended robotic platform for cleaning and inspecting deep foundations, developed at CUHK. The traditional method (Reverse Circulation Drilling) is expensive and hazardous — this robot gets lowered in on synchronized cables instead.
Patent: US 12,398,527 B2 — View on Google Patents →
What I Did
As a Research Assistant at CUHK (Dec 2022 – Mar 2024), I wrote the control software and ran field tests:
- Programmed multi-winch synchronization for stable deployment down to 15 meters
- Control logic for a cable-actuated air-lift cleaning hose
- On-site testing in active construction zones — real mud, real deadlines, real debugging
This was also my first time working with Linux and ROS. I went with ROS1 because, as a beginner, most tutorials at the time were still for ROS1.
This project is what got me into construction robotics. I now work on a similar suspended system with higher complexity.
Technologies
ROS1 · Linux · Python · Multi-winch Control · Cable Robotics · Sensor Fusion · Field Robotics · Prototyping
Gallery
