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serving beverages etc

A project log for Wild Thumper based ROS robot

My ROS (Robot Operating System) indoor & outdoor robot

HumpelstilzchenHumpelstilzchen 10/28/2018 at 08:264 Comments

The robot can also serve beverages :)

For details see comments:

In the following video the robot was driving on manual with a linear speed of 20cm/s and an angular speed of 0.5 rad/s.


Possible enhancements include:

- Add weight sensors to measure the load

- Add an accelerometer to the serving plate and linear actuators to its leg to keep the load horizontal.

Discussions

Paul Crouch wrote 10/28/2018 at 11:07 point

Surely, with the high loose load and springiness of the tyres it's a recipe for disaster? I'd like to see some video of it traverse a room without dropping anything. 

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Humpelstilzchen wrote 10/28/2018 at 18:30 point

Yes, the wild thumper suspension can not handle this use case, the tyres were not a problem. I ran the tests with a 1.5l bottle of water, once I moved the bottle towards the edges the wild thumper tipped over. What I did was tighten the screws of the suspension and adding a 3d printed spacer above the motor joints, effectively disabling the suspension. Of course this only works indoor/on flat surfaces. You can see one spacer right below the right (left from the front) sonar sensor. Additionally the serving plate got an anti-slip mat (like used on sailing boats) and I limited the maximum linear acceleration to 0.14m/s².

My cameraman is currently not available, but I'll see what I can do about the video.

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Paul Crouch wrote 10/28/2018 at 20:10 point

Ah, cool. Thanks for elaborating. 

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Humpelstilzchen wrote 11/17/2018 at 18:03 point

Sorry forgot about it, added the video today.

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