Posts list

Computing torques to compensate gravity in humanoid robot

#robotics #humanoid #torques #gravity

As opposed to robotics arms, humanoid robots are mobile and therefore contact points with the environments should be accounted for when computing their dynamics.

Here, we derive a way to compute the required torque on an humanoid robot standing on either one or two legs to sustain the gravity.

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Onshape to robot tutorial

#robotics #urdf #sdf #onshape #cad

Designing robot involve using CAD software, which is used to create parts and assemblies. Another task when you want to simulate your robot, or manipulate its kinematics chain from software, is to use description format like URDF or SDF files.

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Speed-up platformio mbed build and dfu-util

#embedded #dirty-hacks

Programming micro controllers involves using a lot of tools (cross compilation toolchains, firmware uploading softwares, libraries…). PlatformIO really lightens the process of installing and configuring all of them, and also manage the build of your embedded project.

I’ve been experiencing it using STM32 controllers with the arm mbed framework and DFU USB bootloader, which is natively supported by most of them, and it is actually a good developing environment.

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Why robotics is hard



The victory of Deep Blue against Kasparov in 1997 is a typical milestone mentioned by artificial intelligence researchers. Playing chess as a symbol of intelligence was an early idea even mentioned by Alan Turing back in 1950, in the famous imitation game paper.

Chess game is even today used as a landmark to compare and explain difficulties in creating AIs or robotics projects. It is also worthy highlighting than in 1997 the RoboCup project started:

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Capture The Flag in class

#ctf #teaching


Some topics are hard to teach, security is typically one of them. I used to give some lectures about web security, and then do some supervised class work, but it was not very efficient.

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