Robots Hacks

2346 Articles

Go In All The Directions With Omniwheeled ESP32 Bot

May 18, 2023 by 17 Comments

The ability to change direction without turning is the specialty of omnidirectional wheels, which [maker.moekoe] used to their full potential on a pair of ESP32-controlled robots. Video after the break.

Thanks to the rollers on the wheels, the wheels could be arranged at 120° in relation to each other on the 3-wheeler and 90° 4-wheeler. [maker.moekoe] used ChatGPT and a simple python simulation to find and verify the motor control algorithm required for smooth omnidirectional driving.

A single custom PCB incorporates all the electronics, and doubles as the robot’s chassis, with the geared brushed motors bolted directly to it. An ESP32-S2 runs the show, and can also stream FPV video from the same OV2640 camera used on the popular ESP32-cam modules. The LiPo battery is held by a 3D-printed support plate screws to the bottom of the PCB. The robots can controlled by a simple web-app served by the ESP32, or a using the IMU on custom controller also built around an ESP32-S2 which uses the ESP-NOW wireless protocol.

Even though the robots’ software is still in the early stages, the movement looks extremely smooth and effortless. Plus, their all-in-one PCB chassis makes for an elegant and clean build

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Self-Driving Library For Python

May 16, 2023 by 3 Comments

Fully autonomous vehicles seem to perennially be just a few years away, sort of like the automotive equivalent of fusion power. But just because robotic vehicles haven’t made much progress on our roadways doesn’t mean we can’t play with the technology at the hobbyist level. You can embark on your own experimentation right now with this open source self-driving Python library.

Granted, this is a library built for much smaller vehicles, but it’s still quite full-featured. Known as Donkey Car, it’s mostly intended for what would otherwise be remote-controlled cars or robotics platforms. The library is built to be as minimalist as possible with modularity as a design principle, and includes the ability to self-drive with computer vision using machine-learning algorithms. It is capable of logging sensor data and interfacing with various controllers as well, either physical devices or through something like a browser.

To build a complete platform costs around $250 in parts, but most things needed for a Donkey Car compatible build are easily sourced and it won’t be too long before your own RC vehicle has more “full self-driving” capabilities than a Tesla, and potentially less risk of having a major security vulnerability as well.

Industrial Robot Gets Open-Source Upgrade

May 14, 2023 by 15 Comments

Industrial robots are shockingly expensive when new, typically only affordable for those running factories of some sort. Once they’ve gone through their life cycle building widgets, they can be purchased for little more than scrap value, which is essentially free compared to their original sticker price. [Excessive Overkill] explains all of this in a video where he purchased one at this stage to try to revive, but it also shows us how to get some more life out of these robots if you can spend some time hunting for spare parts, installing open-source firmware, and also have the space for a robot that weighs well over a thousand kilograms.

This specific robot is a Fanuc R2000ia with six degrees of freedom and a reach of over two meters. Originally the plan was to patch together a system that could send modern gcode to the Fanuc controller, but this was eventually scrapped when [Excessive Overkill] realized the controller that shipped with this robot was for an entirely different machine and would never work. Attempts to find upgraded firmware were frustrated, and after a few other false starts a solution was found to get the robot working again using LinuxCNC and Mesa FPGA cards, which have built-in support for Fanuc devices like this.

More after the break…

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A Guard Bot For Your Home Assistant

May 14, 2023 by 31 Comments

While fixed sensors, relays, and cameras can be helpful in monitoring your home, there are still common scenarios you need to physically go and check something. Unfortunately, this is often the case when you’re away from home. To address this challenge, [PriceLessToolkit] created a guardian bot that can be controlled through Home Assistant.

The robot’s body is made from 3D printed components designed to house the various modules neatly. The ESP32 camera module provides WiFi and video capabilities, while the Arduino Pro Mini serves as the bot’s controller. Other peripherals include a light and radar sensor, an LED ring for status display, and a speaker for issuing warnings to potential intruders. The motor controllers are salvaged from two 9-gram servos. The onboard LiPo battery can be charged wirelessly with an integrated charging coil and controller by driving the bot onto a 3D printed dock.

This build is impressive in its design and execution, especially considering how messy it can get when multiple discrete modules are wired together. The rotating caster wheels made from bearings add an elegant touch.

If you’re interested in building your own guard bot, you can find the software, CAD models, and schematics on GitHub. If you’re looking to add other gadgets to your Home Assistant setup, we’ve seen it connect to boilers, blinds, beds and 433 MHz sensors.

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Never Stare Down A Robot

May 13, 2023 by 18 Comments

There are a few things historically difficult to make a robot do. Stairs, of course, are the obvious problem. But realistic blinking behavior is harder than you might think. At first, it might seem frivolous and simple to have a robot blink, but according to Italian scientists, it is both more important and more difficult than you probably think.

Blinking is a nonverbal cue when humans communicate. The post quotes a Finnish researcher:

While it is often assumed that blinking is just a reflexive physiological function associated with protective functions and ocular lubrication, it also serves an important role in reciprocal interaction.

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Hackaday Prize 2023: Bolt Bot Micro Servo Droids

May 9, 2023 by 1 Comment

This Hackaday prize entry from [saul] is the beginning of a reconfigurable kit of 3D printed parts and servo motors for robotics learning. With just access to a printer, a few cheap-as-chips servo motors, an Arduino, and some nuts and bolts, you could be hacking together robot walkers within a few hours of starting!

Bolt Bots is very simple to understand, with all the mechanics and wiring out there in the breeze, but strictly for indoor use we reckon. If you want to add remote control to your application, then drop in one of the ubiquitous nRF24L01 boards and build yourself a copy of the remote control [saul] handily provides in this other project.

There really isn’t a great deal we can say about this, as it’s essentially a build kit with quite a few configuration options, and you just have to build with it and see what’s possible. We expect the number of parts to proliferate over time giving even more options. So far [saul] demonstrates a few flavors of ‘walkers’, a rudimentary ‘robot arm’, and even a hanging drawbot.

The bolt hardware can be found in this GitHub repo, and the remote control code in this second one.

Servo-based designs are sometimes sneered at due to their dubious accuracy and repeatability, but with a little of effort, this can be vastly improved upon. Also, multi-legged walkers need multiple servos and controllers to drive ’em. Or do they?

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Arctos Robotics: Build A Robot Arm Out Of 3D Printer Spares?

May 8, 2023 by 11 Comments

ARCTOS is a 6-DOF robot arm based upon 3D printed mechanics running a modified version of GRBL firmware. Let’s get this straight now, the firmware is open source, but the hardware plans are a paid download, but for less than forty euros, we reckon the investment would be well worth it, judging from the quality of the build instructions and the software support already in place. Continue reading “Arctos Robotics: Build A Robot Arm Out Of 3D Printer Spares?” →