Robotics Stack Exchange
Robotics Stack Exchange

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1500 questions
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3 answers

Is configuration space same as joint space?

For robotic manipulator like the one on the picture: are the configuration space and joint space equivalent? I am trying to understand difference between the two...
Slaven Glumac
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How to calculate serial speed and buffer requirements for PC to microcontroller communications?

A common scenario is to have a PC that sends commands to a microcontroller via RS232. My PC program is sending commands (each of which are composed of multiple bytes) as fast as it can to a small robot. The microcontroller on the robot is a…
kaliatech
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Monte-Carlo Localization

I'm implementing Monte-Carlo localization for my robot that is given a map of the enviroment and its starting location and orientation. Mine approach is as follows: Uniformly create 500 particles around the given position Then at each step: motion…
Andrei Ivanov
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3 answers

How is Screw Theory used in Robotics when you can do everything with regular kinematics?

I was seeing some Robotics lectures and a word which keeps coming up is "Screw Theory", on looking it up, I find that everything you can do with it practically, you can do with vector algebra itself. So, in what exact way does the usage of screw…
tryst with freedom
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2 answers

Floor Segmentation to Determine Navigable Paths

In my application, my robot has the following physical setup: Differential drive mechanics with feedback (wheel encoders) Commercially available webcam mounted with a known transform to the base of the robot (RGB, no depth) The robot will be…
mjcarroll
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How can I build a 10cm-200cm IR range sensor?

Everybody here is probably aware of the Sharp distance sensors (GP2Y0 series, e.g. GP2Y0A02YK0F). They use a diode to emit infrared light and measure the angle of the reflected light with a PSD (i.e. they do triangulation). They seem to be the only…
stefanct
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3 answers

Making a tiny robot by using a remote brain

I'd like to build a robot as small as possible and with as few "delicate" parts as possible (the bots will be bashing into each other). I was wondering if it was possible to use a small chip that could receive bluetooth/IR/wifi commands to move the…
Titan
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1 answer

Resampling attitude states (quaternions, rotation matrix) in a Particle Filter

Suppose I have a particle filter which contains an attitude state (we'll use a unit quaternion from the body to the earth frame for this discussion) $\mathbf{q}_b^e$. What methods should or should not be used for resampling? Many resampling schemes…
Damien
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How to use Arduino for ESC control?

I am using an Arduino Uno to control an ESC for my (in progress) quadrocopter. I am currently using the servo library to control the ESC, which works great. Except.. A count of 100 is max speed, meaning I only have 10 speeds between 90 (stopped)…
Toozinger
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Are time-of-flight cameras like the swissranger affected by outdoor fog?

I'm looking to build an outdoor robot and I need to know if time-of-flight cameras like the SwissRanger™ SR4500 work in fog, does anybody have some experiences on that?
Michele mpp Marostica
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8
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3 answers

SLAM without landmarks?

First, is it possible to build map without landmarks for a robot in 2D? Let's say we have an aisle surrounded by two walls. The robot moves in this environment. Now is it feasible to build such a SLAM problem? Or landmarks must be available to do…
CroCo
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Public training data for vehicle detectors in computer vision?

This question is to anyone familiar with object (specifically vehicle) detection research. I'm new to computer vision and am confused about training object detection classifiers. Specifically, the objective is vehicle detection. I've been reading…
user961627
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2 answers

Choosing path planning and obstacle avoidance algorithm for 2D space

I am working on a 2D space where my robot needs to follow a trajectory while avoiding some obstacles. I've read recently about methods for path planning as "Vector Field Histogram" and the "Dynamic window approach". Is it worth to use these kind of…
Spyros
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In EKF-SLAM, why do we even need odometry when there is a more reliable sensor?Also, are all SLAM algorithms feature-based?

In the book of SLAM for dummies, why do we even need the odometry when the robot would use the data retrieved from the laser scanner which is more accurate than odometry? Why not just rerly on the laser scanner and do away from the odometry? Is…
Xegara
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In SLAM loop closure, What does a sim3 matrix do?

I am confused between 3D rigid affine(with scale, without shear) transformation and Lie group's sim(3) matrix. 3D affine would be [sR|t; 0 1]. we rotate, scale and then translate a 3D point using 3D affine transform \begin{matrix} s\cdot r_{11} &…
Vinmean
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