04 Sep

The paperbot prototype was built based on the fabrication drawing generated from roco_electrical packageFabrication process Result from cutter Test before fully folding the robot Appearance after fully folded

28 Aug

Start a simple test run with our setup. we have an TX on top of the roomba and two RX on the edge of the foam, TX is transmitting signal at 915MHz. We can see from the video, as the robot is approaching the RX, it received signal with higher power, which make sense intuitively. The attached is the t...

21 Aug

We have implemented a kinematic controller to guide the Roomba to a series of setpoints. OptiTrack is completing the feedback loop with the Roomba, communicating its groundtruth at about 120 Hz. We are calculating the errors in angle and distance using linear transforms. There are still some improve...

20 Aug

Simultaneous Localization and Mapping (SLAM) is studied in the past decades, resulting in formulations that allow robots to estimate their pose and model their environments. In the SLAM framework, a robot does not care about planning, so that a man gives the robot the trajectory to follow during the...

14 Aug

By the end of this week, we are expecting the electrical design software for roco to be completely done. This blog is trying to explain the structure and a summary of the software.One can find source code of software here High level of whole project packagePipeline of drawing changes Pack...

12 Aug

Because of the requirements of the autorouter we were using, our board outline needed to consist of '4 node paths' however the generated file we were given, consisted of simple lines. After searching for a while, we realized there was no existing way to do this automatically through a script and hen...

07 Aug

After struggling with the code from the Paper Bot cloned folder, we were able to successfully upload the code onto the ESP8266. Thanks to the generous help of Daniel Ferguson, there the code uploaded without any errors. Below I will include links and instructions for the Paper Bot usage with a Mac d...

07 Aug

User can generate drawings with the desired electrical design. Successfully parse the wiring information from ses file to array A little "hacky" way, not using any parsing package but going through string and looking for path section For ses file only A single script was created that...

05 Aug

We added tabs to the RoCo design so that the tape in previous boats will be replaced by mechanical connections. We also experimented with the settings on the Silhouette paper cutter and cut out half of one paddlewheel. In the next week we will construct a boat using the Silhouette Cameo to cut out...

05 Aug

I finished the boat assembly on RoCo, including the servo holders and all tabs, and have started trying to cut out a prototype using the paper cutter so we can see if the tabs are strong enough to hold the boat together and if the dimensions of the servo holders are correct. We had some problems fin...