# All Questions

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### Looking for a smaller servo than SG90

I'm building a little humanoid robot and I need a motor to open/close a simple 3D printed claw used to mimic an hand, the problem is that the SG90 servo is too big to fit inside the arm. Is there a ...
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### How do I identify the different wires on RPLidar?

I bought an RPLidar A1M8-R6 from the following site: https://www.dfrobot.com/product-1125.html?tracking=585c2ddea9c83 I am trying to connect RPLidar to Arduino so I could get information on the ...
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### Threading on Microsoft AirSim with Python Throws Type Error

Hope everyone is doing well. I have just started use AirSim for some computer vision simulations. Right now I am trying to implement threading for navigation purposes with Python. As a starting point,...
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### How to measure an optical encoder resolution and gear ratio?

I've bought a DC geared motor with an optical encoder. The vendor didn't provide specification. I can read MITSUMI M25N-2R-14 2241 and 25GA-370-12V-330RPM on the motor. There are some pages on the ...
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### What are cases where bug1 algorithm would be bug2?

I have been reading Principles of Robot Motion Theory, Algorithms and Implementations by Choset et al and I can't seem to understand how bug1 would beat bug2. It is harder for me to see given that ...
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### cpp:585:1: warning: no return statement in function returning non-void [-Wreturn-type]

I am using this Repo when building the projects I am getting this error Ros - noetic ...
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### Doubt regarding the likelihood field in measurement model

I don't quite understand what xztk and yztk mean? Are they meant to represent the position of the kth laserscan reading? If yes, could someone please help me figure ...
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### Digital compass precision in urban environment

I'm working on an application to compute the absolute heading (yaw) using the following hardware: WIT-Motion HWT905 IMU https://www.wit-motion.com/digital-inclinometer/witmotion-hwt905-ttl.html. It ...
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### 3D Rigid Body Pose Optimization in flat euclidean space

I am confused about what is the best way to optimize the 3D pose of an object and the best way to parametrize the translation and rotation for optimization in flat euclidean space. Assume I have a ...
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### Obtain a State Space System given Denavit-Hartenberg parameters and a Rigid Body Tree model in MATLAB

I'm confused regarding the representatoin of a 6 D.O.F. robot arm with multiple links. I have the denavit-Hartenberg parameters and have used these to create a Rigid Body Tree model in MATLAB. The ...
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### HECTOR SLAM, odometry in a low cost differential drive robot

I'm a noob in robotics trying to evaluate requirements for a low cost differential drive indoor robot. Would highly appreciate comments on the following questions. Given the inaccuracies in the wheel ...
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### IK Jacobian is always a singular matrix

I am trying to solve an inverse kinematics equation for 6DOF system, 3 rotation and 3 prismatic joints. I am trying to solve using perturbation method, by adjusting each joint and calculating the ...
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### Any advantage in placing IR sensors on a curved line for line following?

The line following IR sensor arrays that are available in the market usually comes with IR sensors placed along a straight line. If I am to make an IR sensor array for line following from scratch, is ...
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### C program to find the rotation matrix (orientation) of a 6DOF robot from its end effector position and link parameters

I'm writing a C program to find the inverse kinematics of a 6DOF robot. I've been able to write it successfully based on the general concept of Inverse Kinematics using DH parameters (i.e. finding the ...
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### Is there a device for detecting what room you are in of a building?

I have found some inspiration for creating an smartphone application. But one of the main segments of the app requires it to know where the smartphone is located. It doesn't have to be that precies. ...
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### How to calibrate a lens with wide fov and low F number

To calibrate a wide fov lens either a calibration board should be large or bring the calibration board closer to the lens. As making a large calibration board is expensive, I usually prefer the second ...
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### Trajectory optimization using Direct Collocation

Are there books or resources that make use of Direct Collocation for obstacle avoidance? So far I have been only been able to find out how to implement Direct Collocation and nothing related to ...
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### Searching for object in an unknown environment using ROS

Using ROS, I'm trying to build a robot able to search for specific objects in an unknown environment. Right now, I'm experimenting with a mobile robot in a simple gazebo maze, using a LIDAR for ...