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Category Archives: Robotics
Indoor Mobile-Robot Localization
The RomiPi project currently uses Aruco Tags for localization! While highly accurate, there are several limitations: cameras and vision are expensive, and visual obstructions limit use of cameras for certain carrying tasks. This pose will document various technologies and products … Continue reading
Posted in Projects, Robotics, Uncategorized
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Introducing RomiPi: A ROS Package for the Pololu Romi
The Pololu Romi with 32u4 Control Board is a robust, low-cost (<$150), educational robotics platform that supports interfacing with the Raspberry Pi computing platform. The Robot Operating System (ROS) is a robotics framework used throughout academics and industry which supports … Continue reading
Bigger Buttons for the Pololu Zumo!
The Pololu Zumo 32u4 is an excellent educational robotics platform, but its buttons proved difficult to manipulate for some of the students in my classes. I designed these bigger buttons as an add-on for the Zumo. My hope is that … Continue reading
Posted in Projects, Robotics, Uncategorized
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ROS Melodic on Raspberry Pi 3
There is no build of ROS Melodic for Rasbian! There is no Ubuntu 18.04 (Bionic) Desktop build for Raspberry Pi 3! Now what? Here’s my answer: Flash an SD card with the Xubuntu image linked here (use balenaEtcher): ROS Melodic … Continue reading
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Kuri Robot Notes
One of my colleagues had an interesting box, it turned out to contain a Kuri home robot from the shuttered Mayfield Robotics company. This post is a collection point for my notes on playing with it. I thought it might … Continue reading
Posted in Projects, Robotics
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Three-Robot Formation Localization
Visualizations of three-robot formation localizing using only range-only and range-bearing. I have recorded screencasts from Autodesk Fusion 360’s sketch view to help visualize the limits of the constraints. In the videos, the Hexagon represents a robot fixed at the origin … Continue reading
Posted in CAD, Projects, Robotics
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Manual Exposure Control of OpenCV Video
My experiments robot localization have been frustrated by blurry images. Blurry images have been making estimating the position of Aruco tag boards difficult with OpenCV. In my case, the camera is mounted to a moving robot that is photographing tags … Continue reading
Raspberry Pi Cheatsheet
Follows is a list of tips for Raspberry Pi setup and use. Direct Ethernet Connect Setup * Turn on my Mac’s Internet Sharing for the Thunderbolt Ethernet adapter. The self-assigned IP on Thunderbolt Ethernet is fine. Use arp -n -i … Continue reading
IR Serial Communication with Pololu Zumo
Inter-robot communication may facilitate interesting cooperative behaviors. The Pololu Zumo robot platform has no inter-robot communication facility as-designed. I am interested in repurposing the IR proximity sensors and the IR illuminators to receive and send serial data. The following are … Continue reading
Posted in Robotics, Uncategorized
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Three-Dimensional Aruco Boards
I am using Aruco tags to locate mobile robots relative to one another. I have mounted tags on the robots using cubes so that at least one tag will be visible from every side of the robot. In the picture … Continue reading
Posted in MOBOT, Programming, Robotics, Toys, Uncategorized
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