Questions tagged [wheeled-robot]
Wheeled-robot is a subtype of mobile robots which uses motor driven wheel(s) to be able to move.
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How can I switch between Autonomous mode and usercontrol?
I want to switch from usercontrol to autonomous. When I have the program running for 120 seconds, how come it wont automatically switch in autonomous mode? Thanks!
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Torque of coreless DC micro motor
I would like to build a small two-wheeled robot similar to the one shown here.
In order to keep the robot small, I intend to use two coreless micro motors like the one shown bellow. The power source ...
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what method should I use for putting rubber bands on wheels?
I have a BOE bot PBasic2 stamp based robot that came with rubberband "tires" for the wheel. however, they are very tight and I can't figure out how to get them onto the plastic hubs.
the furthest I've ...
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Running SLAM without encoders
I am new to the concept of SLAM and mapping, however I ordered a robot vehicle platform which I bought here so that I can explore and practice it on the platform. I also got a 2d liDAR, depth camera ...
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ROS 2 Humble: RCLError: Failed to publish: Publisher;s contexxt is invalid
I am at the start of my journey learning to use ROS 2 Humble with the iRobot Create 3.
I wrote a publisher to its light ring leds that allow me to override the control to the light ring and change the ...
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Kinematic model of skid-steering mobile robot (4 wheeled mobile robot)
The kinematic model for skid-steering mobile robot (4 wheeled mobile robot) is
where state vector is $q = (x,y,\theta)$, and $\eta = (v,w)$ is the linear and angular velocity of the robot, and $x_{...
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RGBD based human detection on a merged pointcloud
I am trying to use RGBD based people detection on a pointcloud merged from two individual real sense d415 cameras mounted vertically, image below.
The merge is performed by transforming the ...
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Balance 2-wheels robot without making it drift forward/backward
I'm trying to design a controller to balance a 2-wheels robot (around 13kg) and making it robust against external forces (e.g. if someone kicks it, it should not fall and not drift indefinitely ...
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How to implement PID position control for 4wheel mecanum robot?
I want to implement PID control on my 4 wheel mecanun robot. I want to give a position instruction to my robot and that it follow the following curves of velocity and position. The only feedback that ...
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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
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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 ...
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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. ...
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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 ...
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How to mount encoder without rear shaft?
I am interested in this robot chasis:
4 wheel robot chasis
There is no information on how to install encoders although the manual says it has space for encoders.
The page says that the motors do ...
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How does one setup an ESC to drive a wheel-hub motor?
I have 2x 350W wheel-hub motors taken from a self-balancing scooter, or hoverboard. My intention is to use the two of them to drive a homemade R2-D2. However, some difficulties have been encountered ...
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What algorithm should I use to make a dynamic Line following robot? [closed]
I want to make a LFR using IR sensor.
Till now I coded my robot according to the track I am going to participate in. So it won't work on any other track.
But now I want to code it in a way that it ...
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Fire Fighting robot searching for fire in arena algorithm
i am working on a firefighting robot and i am struggling to find a way to search all rooms in an arena like this
i thought of using the Wall follower rule but it will miss a room , if i am ...
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Theory behind wheeled inverted pendulum robots [closed]
I'm trying to get a deeper understanding of the theory behind wheeled self-balancing robots. Can anyone point me to a text on dynamic modelling and control theory that might help?
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What type of wheel is preferable for a soccerbot?
After a few days,there will held a competition in our varsity.in this competition the task is,my robot will have to play soccer.this is a one to one manual game.I am thinking of building a robot ...
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Robot won't work properly, claw will only go one way and will only open or close once per cycle
We're students trying to make a clawbot for a Science Seminar class. However, for some reason, whenever we try to move the arm or the claw in a certain way, it will lock up and only move that ...
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Base for home robot of a bigger size [closed]
I am trying to build a robot. But a bigger robot than a Raspberry Pi connected to some tiny something as big as a can of black Coke. I am planning to build a robot of a size 1.2-1.5m. I already have ...
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Making a car go straight [duplicate]
I'm trying to work a car that's being controlled by an Arduino. I'm using the following chassis: New 2WD car chassis DC gear motor, wheels easy assembly and expansion and an L298N motor driver.
The ...
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How would I replicate a tank/zero-turn steering system in a small robotic vehicle?
I'm working on a project that requires me to build a small vehicle (footprint of ~ 14 x 14 inches, less than 6.5 pounds) that can traverse sand. For the steering system, I was thinking of replicating ...
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Angles in a Rocker bogie system
How do you select the following two angles in the design of a Rocker bogie system:
Angle between two arms of the main rocker, and;
Angle between two arms in the bogie.
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Heavy omnidirectional platform suspension
I'm planning to build an omnidirectional platform that will support about 180kg robotic arm. The platform will be equipped in meccanum wheels. I would like to have some kind of suspension to avoid ...
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Automatic agricultural robot using 8051 [closed]
I want to build a automatic agricultural robot for my final year diploma project. The basic idea is to program 8051 to drive the robot in a fixed path in farm for ploughing the farm which i am ...
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Chassis materials for Hobby-weight (5.44Kg) battle robot
I have sorted out all the internals for my robot (drive systems and weaponry) and now I need to put it all together in a chassis which will be about 40 cm wide by 35 cm long by 7 cm high. I have ...
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How to find the height of a rock with a rover?
So, I am designing a rover that will navigate to a rock, and then calculate the height of the rock. Currently, my team's design involves using an ultrasonic rangefinder and lots of math. I was ...
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Acceleration formula for a differential steering robot
I have the formulas to derive the RPM's of each wheel from the robot's linear velocity.
Now, I am trying to do the same thing for the acceleration (mainly angular acceleration).
For linear ...
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Motor Controller with micro USB interface [closed]
I am a Robotics enthusiast and planning to make a small and simple four wheel car whose motors are supposed to be controlled by an Android device housed inside the car by means of the micro USB port ...
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Dynamic model of two wheeled mobile robot
I wanted to design a LQR controller for my two wheel mobile robot. What are the equation of two wheeled mobile robot can be rearranged into state space model? My two wheeled mobile robot is nonlinear ...
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Is there any robot stability control equation that describes the relation between velocity of the robot and its orientation?
Let’s assume at time t a moving robot (e.g. PIONEER 3-DX) changes it’s steering angle by $25^{\circ}$. Obviously, in order to maintain stability and avoid overturning, the robot must reduce its ...
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Line-following robot with a 5th wheel
Both of these 4 wheel drive line following robots have a fifth wheel in the rear.
My first thought is, that it is used as a braking mechanism. Would that be the case? If so, could someone explain - ...
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How do I determine the heading of a six wheeled robot?
I have a robot simulation that simulates Mars Exploration Rover with six steerable wheels.
In case of the following steering configuration
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Programming language? [closed]
In general, what is a good programming language for robotics? I am a starting robo nerd and don't know anyone who would know things like this.
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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 ...
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Meaning of symbol, 'curly N' in the equation of Linear Gaussian system dynamics
In the article of Topological Based Representation(Page no. 12), the equation of the Linear Gaussian system dynamics is given as
In above equation what is the meaning of 'curly N'?
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what exactly is 'observation model' for a robot
In my journey to understand the Kalman filter, I understood how a state model representation is derived for a robot and why(to get the robot state for a given input u) it is required.
$$
\boldsymbol{...
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PID controller for motor speed control and distance control
I am building a robot rover comprised of dual DC motors each with hall sensors to obtain rotaional speed. I currently have a PID controller for each DC motor that is able to control the speed of the ...
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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 ...
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Is there a way to use a stress-ball-like device as acceleration control interface
I am thinking of a project proposal for my robotics course and we are required to make one that has a potential application on physical therapy or medical fields. One thing that came across my mind is ...
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What is the easiest and efficient way to detect human in close range distance and make the robot follow it? [closed]
I am having a thesis right now regarding a robot. My research requires the robot to be attached to linear guide rail. A robot has to detect human in a very close range (of about 2 meters distance). ...
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4-Wheeled Mobile Robot, Motor-Torque, RPM Calculation
I want the torque, rpm of every motor to be used considering certain factors, in a 4 wheeled robot as you see in the picture below.
Here are the factors affecting motor specifications that I Had ...
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Best way to power Raspberry Pi 4 8GB + Arduino Uno Robot?
I am building a robot that uses an arduino to drive 4 mecanum wheels, which will be controlled by a Raspberry pi 4 8GB with the Lobe Machine Learning Hat via a serial connection.
I'm fine with having ...
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wheeled vehicle forward velocity from RPM brushless data
I'm trying to hack an electric RC car with the goal to make it autonomous, as part of my PhD research.
The mounted ESC is able to send back telemetry data, including the spinning velocity (in RPM) of ...
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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 ...
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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 ...
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Balancing robot - How to control the velocity and angle
We are currently making a balancing robot as a school project.
The robot has a gyroscope and an encoder to get the angle of the robot and the rpm of the wheels. By using the current angle of the ...
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Permanent Magnet DC Motor Calcuations
I have to determine speed and torque suitable for my combat robot.
I've done some calculations and I need to know whether they're right or not (because they don't seem to be right).
Suppose I have ...
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Arduino project: Turning with a fixed front wheel axis
I am working on an Arduino robot project. This project requires a base with 4 wheels where the back wheels are attached to two DC motors that can be controlled independently of each other. I am ...