Robotics Stack Exchange
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1500 questions
29
votes
7 answers

What algorithm should I implement to program a room cleaning robot?

For this question assume that the following things are unknown: The size and shape of the room The location of the robot The presence of any obstacles Also assume that the following things are constant: The size and shape of the room The number,…
Jason Sperske
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29
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5 answers

Particle filters: How to do resampling?

I understand the basic principle of a particle filter and tried to implement one. However, I got hung up on the resampling part. Theoretically speaking, it is quite simple: From the old (and weighted) set of particles, draw a new set of particles…
Daniel Eberts
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28
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8 answers

Absolute positioning without GPS

Using an IMU a robot can estimate its current position relative to its starting position, but this incurs error over time. GPS is especially useful for providing position information not biased by local error accumulation. But GPS cannot be used…
Robz
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25
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5 answers

Is it possible to run a neural network on a microcontroller

Could you implement a simple neural network on a microprocessor such as the Arduino Uno to be used in machine learning?
Jordan
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25
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3 answers

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 for an algorithm that will let me use it to drive…
berry120
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25
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5 answers

How can I integrate a smart phone with my robotics project?

Smart phones these days typically come with a gyroscope, accelerometer, compass, camera, and GPS sensor all on board. They also usually have a connection to the internet with Wifi and mobile data networks. I've seen many cases of using a phone as a…
Robz
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24
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4 answers

How to select cameras for a stereo vision system?

I am in the process of building a stereo vision system to be used on a UGV. The system is for a robot that will be used in a competition wherein the robot is teleoperated to find relatively small colored rocks in a large outdoor field. I understand…
DaemonMaker
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24
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2 answers

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 considering?
Sparr
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24
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4 answers

How should emergency stops be wired?

Emergency stops are obviously a good idea on most robots, how should they be wired? What systems should be killed immediately, and what should stay working?
Felix
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23
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3 answers

Why do quadcopters use brushless motors?

I've been thinking about starting a quadcopter project, maybe building it from scratch. One of the main barriers-to-entry for me is the motors: it seems like most quadcopters use brushless motors. I have some experience with DC motors and using PWM…
Robz
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22
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4 answers

Why are quadcopters more common in robotics than other configurations?

I've noticed that almost all research being done with helicopter robots is done using quadcopters (four propellers). Why is there so little work done using tricopters in comparison? Or a different number of propellers? What about four propellers has…
golmschenk
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22
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3 answers

How can the inverse kinematics problem be solved?

The forward kinematics of a robot arm can be solved easily. We can represent each joint using Denavit–Hartenberg transformation matrices. For example, if the $i^{th}$ joint is a linear actuator, it may have the transformation matrix: $T_i =…
ronalchn
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22
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5 answers

Is it better to have batteries distributed at the rotors or the center of the multicopter?

I've seen 3 approaches to mounting batteries on a multicopter: All the batteries rigidly mounted near the center of the airframe All the batteries in a bag hanging under the center of the airframe Each rotor has its share of the batteries rigidly…
David Cary
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22
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4 answers

What frequency does my quadcopter output-sense-calculate-output update loop need to stay stable?

With a 600 mm (2 foot) motor-to-motor quadcopter, what frequency does my output-sense-calculate-output update loop need to stay stable? I'm estimating a total takeoff weight of very roughly 2 pounds ( 0.9 kg ), which I expect to be mostly motors and…
David Cary
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22
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2 answers

ROS: catkin_make vs. catkin build

When using ROS: Why should I use catkin build from catkin_tools instead of catkin_make? I've been told that catkin build is better but no one who tells me this can give me a reason why.
SKA
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