HumpelstilzchenThe 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
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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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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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Ah, cool. Thanks for elaborating.
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Sorry forgot about it, added the video today.
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