Questions tagged [wheeled-robot]
Wheeled-robot is a subtype of mobile robots which uses motor driven wheel(s) to be able to move.
186
questions
2
votes
1answer
16 views
Worm gearbox for steering
I'm planning on making a smallish off-road rover (15-25kg net weight) with 4-wheel steering and I was wondering if it'd be a good idea to use (self-locking) worm gearboxes for steering. I've thought ...
1
vote
1answer
19 views
Motorised steering without shock absorber?
I was looking up on the Curiosity Mars Rover and noticed that the steering appears to be driven by a (geared) stepper:
I presume the drive contains a worm gear to reduce power consumption of the ...
1
vote
0answers
25 views
Rotate while strafing with mecanum wheels
I have a robot with a drivetrain that is comprised of 4 mecanum wheels. These wheels are able to move vertically and horizontally, as well as rotate. The robot is square (18in x 18in) with the front 2 ...
0
votes
1answer
20 views
error with dimensions in Simulink
I am trying to simulate a cartesian regulator for a unicycle with Simulink and I am having some problems.
My simulink model is the following:
and when I run it I get the following error message:
so ...
4
votes
0answers
52 views
Likelihood field sensor model (Probabilistic Robotics, Thrun et al., p.169-174)
I am currently working on the "likelihood field" sensor model (aka "endpoint model") by Thrun et al. (book: Probabilistic Robotics, Thrun et al., p.169-174)
In this context I have ...
0
votes
0answers
16 views
Help finding a replacement for a broken gear
My robot lawn mower (a Robomow rx20u) was moving erratically, so I took apart the wheel assembly and found that one of the reduction gears has several broken teeth (in the picture, look at the right-...
0
votes
1answer
24 views
Differential Drive Tricycle WMR with active caster wheel
I'm doing some research for my university project and in particular it concerns a functional design project. I thought it would have been possible to design a 3-wheel mobile robot with an active ...
0
votes
0answers
34 views
How to avoid hair entanglement in your robot wheels?
This isn't about any complex math or physics of robots, but rather an annoying practical issue I don't find much information about.
My robot works indoors (house, office) and there's certainly going ...
0
votes
0answers
13 views
problem in understanding this part of the RRTx path finding algorithm
this is a paragraph from the paper of the RRTx algorithm
and below it a figure referenced in the paragraph
however the No and Nr nodes types are unclear to me what are they exactly ?
0
votes
0answers
24 views
calculate self aligning torque from steering wheel angle
I would like to calculate self aligning torque (SAT) to apply it for a simulating game with Logitech G29 steering wheel, the torque is gonna be inferred from steering wheel angle (plus car motion). I ...
0
votes
0answers
16 views
Maximizing the Coefficient of Friction Between Two Surfaces
I am new to this site so please let me know if I can improve my question. A component of a robot I am designing includes a four-wheeled carriage that travels linearly on an aluminum surface. The ...
0
votes
2answers
60 views
Guidance on SBC for Visual-Based SLAM [closed]
Intro: I am a student that just started a project regarding prototyping a mobile robot that involve Indoor SLAM implementation. I am very new to the field of computer vision, SLAM and SBC (single ...
3
votes
2answers
41 views
Robot - Wall Avoiding (Plinko Robot)
I am looking to build a robot that will travel and zig-zag down the hallway.It will be headed towards a wall at roughly 45 degrees and then use a IR LED to detect when a wall is nearby. From there, ...
0
votes
0answers
16 views
Compute tangential acceleration of a specific point using IMU data?
I have a question about using datas coming from an imu on a vehicle.
The IMU is placed near the rear wheel axle of the vehicle. The reference frame for vehicle control is placed between rear wheels.
...
0
votes
0answers
11 views
Avoiding obstacle of a car robot using IR
I am using an IR sensor which detects the obstacle. My question is how does 2 robots stops on a finish line which is an object higher that the height of the car robot if i am using IR, comparator(...
0
votes
1answer
26 views
Bump and turn toys: how do they work?
I remember that when I was a kid, in the 1980s, I had some toys made in Taiwan that basically worked like this: they moved forward uniterruptily until they bumped into an obstacle; then they moved ...
-2
votes
2answers
57 views
Should a walking robot necessarily be a better cleaning robot than a wheeled robot?
All cleaning robots I found so far sold in stores, for cleaning an house, are not walking robots but rather short, wheeled robots.
I assume that walking robots could have way more sophisticated ...
0
votes
2answers
74 views
Path-following algorithm and suggestions for mecanum robot
I have a robot with four mecanum wheels (blue square) that can move in an open-space room.
The position x,y of the robot is measured in a very accurate way by a fixed position sensor (red circle) that ...
1
vote
1answer
185 views
How to drive mecanum wheels robot: code or algorithm
I have a robot with four mecanum wheels and I would like to make it move correctly by using a RC transmitter (my controller has two sticks and several buttons, each stick has a proportional range of [...
2
votes
1answer
39 views
Are rotary encoders necessary for ball shooting mechanism?
I'm designing a bot for a TDP(Team Documentation Profile) for a competition which is supposed to throw a rugby ball. Since the deadline is closing in soon, I can't test things out myself.
After ...
0
votes
0answers
15 views
Gyroscope signal when mounted on a deflated tire
Before I do the experiment, I am a bit confused about the expected signals provided by a 3-axis gyroscope (angular velocities vs. time) mounted on the edge of a (slightly) deflated car tire when the ...
2
votes
0answers
39 views
Choosing right motors for self-balancing robot [closed]
I’m looking for right motors for my first self-balancing robot.
Design assumptions:
robot height: around 120-200 mm
robot weight: around 600-800 grams
wheels: 80x10 mm or 90x10 mm
battery voltage: ...
0
votes
0answers
43 views
How to make a diff robot (2 traction wheels front and 2 castor wheels back) to go straight?
I’m developing a differential robot. My wheeled robot has two castor wheels in the back and two driven wheels in the front. The motor controller I’m using can handle two motors each with 90 cpr. Each ...
1
vote
3answers
86 views
I wanna make a raspberry pi car using an RC car. I would like to know if the servo multiplexer is necessary?
So I'm working on a project and it involves making a raspberry pi car, be it from scratch or with the help of can rc car. I chose the latter. Now the problem is I don't really have servo multiplexers ...
1
vote
0answers
59 views
4 wheeled differential wheeled (skid-steer) robot steering problem
My question is about a square shaped differential wheeled robot, I built, that has a hub-motor (BLDC motor) attached to each corner, i.e., the wheels on the same side, either left or right, have the ...
0
votes
1answer
38 views
Can knowledge of robot's dynamics help in motion planning?
Some planners assume a kinematic model of the robot for example diff drive or omni directional etc. while generating motion plans for the robot. Can knowledge of the dynamics of the robot help ...
0
votes
2answers
639 views
How to implement a wall following controller for a TurtleBot3? (ROS - Python)
I want to implement a wall following controller for my TurtleBot3 (with ROS system).
Sensors which I have on the robot: lidar(360) and optional 2 ultrasonic sensors on the side (one on the left and ...
0
votes
0answers
22 views
AlphaBot2 run / migrate to .NET Core
Bought this robot called AlphaBot2. Has sample code here:
https://www.waveshare.com/wiki/File:AlphaBot_Demo.7z
What I am interested in knowing is how do I convert these Python samples to C# with .NET ...
0
votes
1answer
118 views
Plot a map using wheel encoder and IMU data
I want to plot a map( with matplotlib or any other library ) using a wheel encoder and IMU data.
Eg:- For every 10cm robot moves it should draw line (in a graph) and draw angles depending on the data ...
0
votes
1answer
58 views
What robotic skills can I develop when working as a robot operator? [closed]
I find myself very interested to work in the field of robotics though my background is not robotics, I had a degree in Physics, master 1 in Hydrodynamics and this year I have studied just one semester ...
0
votes
2answers
73 views
Can Swedish wheels be used in two wheeler configuration?
Can we use any of the Swedish 90°/45° Omni or Mecanum wheels in two wheeler configurations?
0
votes
2answers
61 views
Multiple robots performing a set of tasks (Optimization)
Consider a situation where you have a 'm' number of robots and 'n' number of tasks. Each task is at a different location. What optimization algorithm should I use in order to assign a set of tasks to ...
2
votes
1answer
131 views
Feedback linearization of a nonlinear MIMO system
I have to design a feedback linearization for the model of a car with a single trailer. This picture shows the system:
And this is the kinematic model I got, where ...
1
vote
0answers
54 views
Sensorfusion of odometry, accelerometer and gyroscope using Indirect Kalman Filter
I'm trying to implement an indirect Kalman for pose estimation of a wheeled robot.
I found two papers that describe this approach.
CMU. Journal (2006) Vol. 5(1)
IFAC Conference on Embedded Systems
...
2
votes
1answer
831 views
What is the difference between the pose of a robot and the configuration of a robot?
Do "configuration" and "pose" means the same thing? If not what is the difference?
0
votes
1answer
87 views
How to drive a curve in a maze
im currently programming a robot with 2 wheels and i got the task to let it drive alone for a few minutes in a maze. I just managed to programm a controller that controls the distance to each wall ...
2
votes
2answers
261 views
Controllability of a car with a single trailer
I'm studying the kinematic model of a car with a single trailer. This picture shows the system:
I started from the following statements:
With these constraints, I got the Pfaffian form:
And then ...
-1
votes
1answer
50 views
Why my stepper motor doesn't move when I attach a blade?
I wanted to use the NEMA 17 stepper to drive a blade/flapper that I have custom made for some physical application.As soon as I tighten the screw,the motor stops rotation in the usual way. Don't have ...
2
votes
3answers
113 views
Interference caused by multiple robots during task completion
Suppose there is an area to survey. If we deploy one robot it takes time T to sweep the area. Now if we deploy 2 robots, we would expect it to take time T/2. However in reality, because we are sending ...
1
vote
0answers
45 views
TGY-6114MD Servo motor needs push to start
I currently have an inspection robot deployed in a remote part of Africa that has a failing Turnigy TGY-6114MD servo. The issue appeared randomly. The servo won't respond to commands unless given a ...
0
votes
1answer
279 views
Omni vs mecanum wheels for drawing robot
I'm designing a mobile robot which will have to draw some lines (straight and/or curly) on the floor while it moves.
The floor will always be flat with almost no obstacles.
The robot will have four ...
0
votes
1answer
387 views
How do I create a broken line follower? [RobotC] [Legomindstorm] [Ev3]
Trying to create an algorithm/code in order to get my robot to follow a track which it currently can do, using a color sensor and following the inside edge. So I'm wondering how to transition to the ...
2
votes
1answer
54 views
How many encoders should I have?
I'm planning a robot vehicle and plan to get one or more motors that have encoders built in.
How many encoders do I need I really need in order to gather solidly accurate information about speed ...
1
vote
0answers
39 views
hand-eye calibration for wheeled mobile robots
I am new to robotics and working with a wheeled mobile robot with one Kinect mounted on top of it currently.
The robot knows its position in the environment via some means.
I encounter one problem. ...
0
votes
1answer
77 views
Path planning of wheeled robot [duplicate]
let's say the robot Looks like this (an usual robot arm with 4 wheels) :
In this case as far as I know, the idea of path planning is just to compare the actual position x with the desired position ...
1
vote
0answers
122 views
Detecting and counting the number of junctions
So I am making a robot which is to follow a line. The field has both +(junctions) as well(by the intersection of two lights). I am yet to figure out what exactly is the best way to track the number of ...
2
votes
0answers
40 views
Create path with minimum curvature for Ackerman drive
I'm trying to create a trajectory between two given poses for an Ackerman drive.
The poses are defined as follows:
Current Pose
position $(x_0, y_0)$
rotation on z-axis $\theta_0$
Final Pose
...
5
votes
1answer
105 views
Making a robot go in a straight rate - sampling rate for motor PID
I'm trying to build a robot/rover based on Raspberry Pi 3
At the moment I'm straggling with a basic driving in a straight line.
I'm in a process of tuning my PID code andI'm not sure what sampling ...
2
votes
0answers
97 views
Wheeled Mobile Robot State Estimation Model Using Odometry
I have a process model update that follows the form:
$$
\mathbf{x}_{k|k-1} = \mathbf{x}_{k-1|k-1} + \delta \mathbf{x}_k,
$$
where $\mathbf{x}_{k-1|k-1}$ is the posterior estimate from the last ...
0
votes
1answer
36 views
Rover style robots with less motors than wheels
In all of the designs that I have seen for rockie bogie suspensions, each wheel has a separate motor. Can a rover be driven with less motors? Does each wheel need to spin independently?
