Isaac Moreno's specific contributions

Alongside helping with the design, fabrication, and troubleshooting of ROCA, Isaac Moreno spearheaded the calculations that determined each motor’s required torque. This calculation helped determine which motors the team ultimately decided to use on ROCA. He also created a numerical inverse kinematics solver that outputted the required joint angles to position ROCA in a desired position and orientation relative to the base. Below are descriptions of these contributions.