All Questions

29
votes
3answers
7k views

What is a suitable model for two-wheeled robots?

What is a suitable model for two-wheeled robots? That is, what equations of motion describe the dynamics of a two-wheeled robot. Model of varying fidelity are welcome. This includes non-linear models,...
9
votes
4answers
2k views

What connectors are most reliable?

If you have used connectors for signal wiring for any length of time, you may find that they are unreliable. Specifically, I find these to be unreliable when used for a long time, with a number of ...
5
votes
3answers
3k views

How to manage interrupts on an AVR?

I have a number of interrupt service routines on an AVR. These include interrupts for USART serial communication, timers, and SPI communication. For all of these, I use circular queues (using a start ...
-6
votes
2answers
134 views

Developing for 8-bit AVR-s, what are the current, open and free libraries out there? [closed]

I would be very interested to ask for a list of repos of free open code, applicable to 8-bit avr-s and having relation to robotics - object avoidance, process controllers, battery management, etc. ...
2
votes
1answer
221 views

What BLDC servo drive takes sinusoidal hall sensor signals?

I am looking for a servo drive to control a brushless DC motor, with at least 10A, 30V rating. However, I want to know if any exist which take sinusoidal hall sensor signals directly. I already know ...
12
votes
3answers
843 views

What determines the amount of noise an actuator produces?

Many robots and other mechanical devices produce the signature whirring noise as they move, some produce less. What makes the difference? What restrictions a silence requirement places on a robot?
4
votes
2answers
3k views

Mechanical design for motorized spherical caster wheels

Design goal is to have a mobile robot that operates on 3 large casters, essentially 2 to 4 inch diameter steel ball bearings, that are motorized. No other mechanism would touch the surface. The robot ...
8
votes
2answers
3k views

Shape Memory Alloy wire for robot gripper arm actuation: How to vary grip pressure?

For a robotic gripper arm we are designing for factory floor use on very small components, we propose to use electrically activated Shape Memory Alloy (SMA) wire harnesses for actuation. The device ...
7
votes
1answer
1k views

Using an Arduino to control an ON / OFF connection between two pins

I've got this driver: http://www.pololu.com/catalog/product/1182 ... a A4988 stepper motor driver carrier I'm attempting to control a connection between the RESET and SLEEP pins with logic ( code ) ...
12
votes
3answers
7k views

Calculating the efficiency of Mecanum wheels

I'm part of a FIRST Robotics team, and we're looking into using Mecanum wheels for our robot. What are the advantages and disadvantages of using Mecanum wheel versus regular ones? From looking ...
15
votes
4answers
308 views

Is it possible to both move and stabilize a two wheeled robot with no gyroscopes?

With two wheeled robot like this one, I have managed to stabilize it while keeping it stationary. This was done using a digital feedback control system by reading the position of the wheels to ...
13
votes
2answers
311 views

How can I detect if a DC motor on a robot is starting to fail?

What characteristics can I look for which could be reliable early warning signs that a DC motor on my robot, say one used for the drive, could be failing? I'm looking for an answer that deals in terms ...
8
votes
2answers
719 views

Adding external heat sinking to a Dynamixel RX-24F servo?

Hobby servos are generally not sufficient for real robotics for a number of reasons: Quality, precision, range of motion, torque, etc. Meanwhile, industrial servos, such as ABB, Emerson, GE, etc, are ...
9
votes
3answers
2k views

What algorithm can I use for constructing a map of an explored area using a number of ultrasound sensors?

Ultrasound sensors are incredibly cheap these days which makes them a popular choice for many hobbyist robotic applications, and I'd like to use a bunch of them (say 10) around a robot with an ...
12
votes
5answers
324 views

What's the most accurate way to obtain a locational fix using GPS?

Obviously GPS is the most obvious and accessible technology for obtaining a locational "fix" for a robot at any particular time. However, while it's great sometimes, in other locations and situations ...
11
votes
4answers
808 views

How can I best protect sensitive components against damage through vibration?

It's common for components on some types of robots to experience large environmental stresses, one key one being vibration. Is this something I need to worry about with typical electronics and other ...
18
votes
3answers
650 views

What's the most effective type of rechargeable battery when taking into account size / weight / Ah?

I'm looking to build an underwater glider robot that will need to remain autonomous for long periods of time, perhaps even months. Power draw should be minimal, and I'm thinking of including some form ...
11
votes
1answer
1k views

Choosing the right dimensions for an underwater glider

I'm looking to potentially build an underwater glider, a type of submarine that's slow but can operate on extremely low power draw. However, in order for it to work effectively I've found several ...
25
votes
3answers
3k views

What algorithm should I use for balancing a two wheeled robot using a gyroscope?

Is there a good, popular and reliable algorithm I can use by taking input from a gyroscope and using this to control two independant wheels to keep such a balanced robot reliably upright? I'm looking ...
10
votes
1answer
313 views

What tyre tread would be best suited to an off road robot expected to deal with frequently muddy conditions?

I'm looking to potentially build an autonomous robot that will frequently venture off road, and remain autonomous for up to 6 hours at a time. I've found limited information however about the best ...
5
votes
5answers
324 views

I'd like to use gesture based input for my robot. What are the pros and cons between the Xtion Live and the Kinect?

As in the title, I'd like to implement gesture recognition on my robot and I'm looking for the pros and cons between the Kinect and the Xtion - and also if there are any other sensible options ...
-3
votes
2answers
750 views

Mobile robot localization in a known map [closed]

I want to localize a mobile robot equipped with a 2D laser scanner in a known indoor environment. The map is a 2D occupancy grid, but is not perfect. What algorithms are appropriate for mobile robot ...
-12
votes
1answer
150 views

Cheap web to buy robotic pieces from [closed]

I love computer programming, and if I can interact with the world programming, it's even better. I used to steal them from school, and make little robots that bounce when collided with a wall, but I ...
40
votes
2answers
67k views

How to choose the right propeller/motor combination for a quadcopter?

There are many sites which explain briefly this problem and even propose combinations. I however would like a much more detailed explanation. What is going to give my quad the most agility? Do I need ...
5
votes
3answers
182 views

F/OSS Optical Object Avoidance

I am beginning work on a larger scale, 250-350 lbs wheeled robot and looking to use both optical and other means of object avoidance. I am concerned with a robot this large causing issues with running ...
0
votes
1answer
3k views

Ideas for shooting the ball in a soccer robot [closed]

What is the best option to use for the shooting system of a soccer robot? I have already implemented a solenoid-based system for shooting and it works perfectly. However, I'd like some other methods ...
6
votes
1answer
56 views

Keyboard control map for scalar based movement?

I'm working with a Wild Thumper 6 wheel chasis that is designed for use with an RC controller. However I'd like to have a mapping to a keyboard for control as well. Can you suggest a set of keys and ...
17
votes
3answers
3k views

What are good methods for tuning the process noise on Kalman filters?

Most often tuning the Kalman filter noise matrices is done by trial and error or domain knowledge. Are there more principled ways for tuning all the Kalman filter parameters?
-5
votes
1answer
133 views

What software do you use to design your PCB in the robotics field? [closed]

What is the best software (despite the price) for designing the circuits and PCB boards for robots? I mean having lots of components, different designing methods, best accuracy, ... I myself use the ...
19
votes
7answers
5k views

What good robotics software platforms / operating systems are available? [closed]

My company will soon be starting a brand new robotics project, and we are still trying to decide whether we should design and code a robotics software platform from scratch, or if there are any good ...
14
votes
2answers
615 views

Nearest-neighbor data structure for non-Euclidean configuration space

I'm trying to implement a nearest-neighbor structure for use in an RRT motion planner. In order to do better than a linear brute-force nearest-neighbor search, I'd like to implement something like a ...
0
votes
7answers
2k views

Good Microcontrollers/SOCs for a Robotics Project [closed]

I am looking for a starting point for my project, preferably using popular systems (ones there is a lot of support for). I have an Arduino Uno, a Raspberry Pi, and a lot of willpower :) Anyone here ...
24
votes
2answers
527 views

What useful gaits exist for a six legged robot, and what are their pros and cons?

http://www.oricomtech.com/projects/leg-time.htm lists three gaits: the tripod wave, and ripple. Can these be improved, or can their relative pros and cons be altered, and are there other gaits worth ...
15
votes
4answers
5k views

How can I modify a low cost hobby servo to run 'freely'?

I've got some hobby servos (Power HD 1501MGs) and I'd like to be able to control them (via an Arduino) so they will either go to the angle I set, or put them in a 'free running' mode, where the load ...
14
votes
2answers
231 views

What is the right approach to write the spin controller for a soccer robot?

Imagine programming a 3 wheel soccer robot. What type of controller would you use for spinning it? P? PID? The goal for this controller is that it should make the robot stand in a defined angle ( 0 ...

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