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1500 questions
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Obstacle Avoidance while Navigating

I need some ideas for strategies or algorithms to apply on these strategies to perform obstacle avoidance while navigating. At the moment I'm doing offline path planning and obstacle avoidance of known obstacles with an occupancy grid. And running…
dannyyy
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How would I go about making an art drawing robot like this?

I saw this art drawing robot on youtube: http://www.youtube.com/watch?v=Wo15zXhFdzo What do I need to learn in order to build something like that? What are some beginner oriented projects that could lead up to building something like this? I'm an…
Ryan
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Visualizing raw accelerometer and gyro data

I have an arduino wired to an MPU6050 breakout board. The arduino continuously collects accelerometer and gyroscope data from the MPU6050 and calculates angle and velocity. Simply plotting the vector components (x,y,z) of this data does not allow…
Shubham Jha
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How to further understand the computed torque model controller

For the following controller what do $q_{des}$ and $q_{act}$ stand for? Also, what is the general principle of this controller? Thanks!
Dave
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How to get manufactured part from CAD file?

I am working through the book Learning Robotics using Python, which is for Python programmers who want to learn some robotics. Chapter 2 shows you how to use LibreCAD to design the plates and poles that form the chassis of the turtlebot-like robot.…
neuronet
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Why do series elastic actuators have more accurate and stable force control?

The other day, somebody was telling me about a robot in their lab, and they mentioned that it has "series elastic" actuators. But after doing a bit of Googling, I'm still not sure as to what this means, and have been unable to find a simple…
Karnivaurus
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Do you have to stop first when switching direction for proper encoding readings?

Since the encoder is square wave not quadrature, do you have to stop first before changing directions for proper measurements? In other words, if you are commanding along in one direction at some low speed like 50mm/s or less and want to change…
Kirk Lennard
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Calculate the uncertainty of a 6-dof pose for graph-based SLAM

This question is strongly related to my other question over here. I am estimating 6-DOF poses $x_{i}$ of a trajectory using a graph-based SLAM approach. The estimation is based on 6-DOF transformation measurements $z_{ij}$ with uncertainty…
morph
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What's the difference between the term "pose estimation" and "visual odometry"?

I'm reading a paper: Choi C, Trevor A J B, Christensen H I. RGB-D edge detection and edge-based registration[C]//Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on. IEEE, 2013: 1568-1575. which refers: Visual…
zhangxaochen
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Local Localisation with particle filter

I am doing Local Localisation with sonar, particle filter (i.e all particles are initially with robot pose). I have grip map of environment. When I execute algorithm in environment (where doors are closed/open), particles are not able to followup…
nayab
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2 answers

Angular momentum of rimless wheel in Passive Dynamic Walking

In Tad McGeer's work, Passive Dynamic Walking, in 1990, he mentions the rimless wheel model, which is used to approximate the bipedal locomotion. I can't understand why the angular momentum is written as follows. $H^-=(\cos…
lucasKo
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Are all Flight Controllers and Remote Controls using the same protocol?

I'm about to start a project, where I'm sniffing data between remote controls and flight controllers on RC copters and doing stuff with that information. Do all (or most) flight controllers use the same protocol to communicate with the remote…
trueCamelType
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How can my robot find its position in any given map without GPS, including when the initial point is not given?

Consider this map The Contest arena shown in figure 1 consists of two sub arenas, both the sides are identical to each other and their scientists and safe zone locations are similar. Each sub arena has 3 different colored rooms and a fourth shared…
Muhammad Siraj
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Implementation of inverse kinematics solution in c++

I am having some issue with implementing a least square solution of the inverse kinematics problem. The q configuration I get are rather large, or makes no sense, so I was hoping someone here could help me find my error in my program. rw::math::Q…
James potter
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Performing inverse kinematics based on a displacement of the end effector?

I think i have an simple problem, but can't my head around how i should resolve it... My setup looks like this: The grey box on end effector is supposed to be an camera, which measures a dx,dy,dz between the object and the camera. These are used…
James potter
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