juerg's blog

where to go next? (not MRL, only my robot)

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Working on teaching my bot to move in front of an optical tag I run into the problem that seeing no tag at the current location - where to go to check from another spot in the room for the tag?

odometer for InMoov cart

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In trying to add some self control to my InMoov I work on making it find an ARUCO marker and position itself in front of it using its macanum wheel base.


A disadvantage of the mecanum wheel base are the different possible movements and - depending on the surface - quite a lot of slip which makes wheel encoders  a poor solution.

InMoov Mobile Platform

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Juerg's Cool Video - Reposted by GroG

brilliant guys with money and time ...

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new/updated  Boston Dynamic robots. Amazing.


InMoov In Self Repair Mode

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Unfortunately not the result of a single script but made of many smaller sequences showing some of InMoov's capabilities


Position InMoov In Front Of Door

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Using a marker, Processing, Kinect4WinSDK, nyar4psg and java.net.URL on my PC I wrote some code that will position the InMoov in a defined position in front of a door.

As the kinect range of view is a bit limited I had to fix the marker 20 cm above the door handle axis. 

Unfortunately in my case I had to do the movements on my own (an omniwheel base as Robyn has is yet on the wishlist of my Marvin). The distance to the door is 55..60 cm and could be more precise with a nicely positionable base.