Unanswered Questions
971 questions with no upvoted or accepted answers
7
votes
2
answers
556
views
Reward Function for q learning on a robot
I have 2 wheeled differential drive robot which I use pid for low level control to follow line. I implemented q learning which uses samples for 16 iterations then uses them to decide the best position ...
CommunityBot
- 1
6
votes
1
answer
1k
views
Poor accuracy of hand eye calibration when using vanilla Tsai's method
I’m working on the hand eye calibration for the robotic arm. I attached the camera near the tip of the robot (or end effector) and took around 40 pictures of an asymmetric circles pattern. I ...
CommunityBot
- 1
5
votes
0
answers
273
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 ...
Ben♦
- 5,780
5
votes
2
answers
316
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Inferring joint orientation on multi-joint arm
Not a robotics question in the strictest sense, I guess, but related closely enough, I hope:
I have an arm-like articulated two(-plus-one)-joint appliance that I want to use as a 3D input device. It ...
CommunityBot
- 1
4
votes
1
answer
279
views
Motion planning with Gaussian Process Regression
I was recently introduced to Gaussian Process Regression (GPR). I read multiple papers regarding use cases of GPR in robotics, however, they were more or less very limited.
Use case from the ...
CommunityBot
- 1
4
votes
1
answer
444
views
MPU6050: Changing Gyro Output Range Throws off Positional Reading
I am using the MPU6050 in conjunction with an Arduino and Jeff Rowberg's i2cdev library, and my project requires that the gyro rate outputs be more precise than the default setting, which is 1/16.4 of ...
CommunityBot
- 1
4
votes
0
answers
510
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How does one implement a third order complementary filter for estimating altitude using data from an accelerometer and a barometer?
I am working with the CJMCU build of cleanflight on a small drone. As of now, the algorithm for altitude hold uses a first order complementary filter to combine data from the barometer and the ...
- 101
3
votes
0
answers
195
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Nonlinear Sensor Fusion with Space-Time Finite Element and Static Condensation?
I have recently implemented an algorithm for the nonlinear fusion of GNSS, barometer, magnetometer, accelerometer and gyroscope data.
The algorithm is based on a space-time finite element where the ...
- 1,297
3
votes
1
answer
70
views
Covariance of Gaussian after sequence of homogeneous transformations
Assume we have a robot that moves and observes landmarks on his path. The path is composed of $k$ poses $s_1 \: ... s_k$ where $s_i = [x,\ y,\ \theta]$. From the sensors, we read the motion ...
CommunityBot
- 1
3
votes
0
answers
128
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FABRIK Inverse Kinematics Convergence Proof For Multiple End-Effector Case
Below, I've linked the FABRIK papers, the first of which is particularly relevant to my question, as it shows the convergence proof for the single end effector case, and this makes sense to me. But I ...
3
votes
1
answer
540
views
How to find angular velocity using pure pursuit algorithm?
I have implemented the pure pursuit algorithm for my differential wheeled robot as described in the following paper:
http://www.enseignement.polytechnique.fr/profs/informatique/Eric.Goubault/MRIS/...
CommunityBot
- 1
3
votes
0
answers
73
views
output velocity equation of compliance control
I am trying to implement a compliance controller for a robot arm and stumbled upon an existing code snippet where the compliance velocity of the endeffector is calculated by:
$v_{out} = v_{in} + \frac{...
- 41
3
votes
2
answers
102
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, ...
CommunityBot
- 1
3
votes
0
answers
39
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What is the corrispettive motion convention for robotic systems with X,Y,Z axis?
We built several systems coupling multiple linear micrometric stages. I can't find a standard defining the axis convention of these kinds of systems, it there are any.
Regarding the system on the ...
CommunityBot
- 1
3
votes
2
answers
214
views
EKF SLAM : Missing older landmarks in new observation
I am a beginner to SLAM and robotics in general and I have been trying to implement SLAM on my GoPiGo3 robot car kit using primarily Chapter 10 from Probabilistic Robotics by Sebastian Thrun as ...
CommunityBot
- 1