← Robot list · Mobile robot page
Turn the robot with the mouse or your finger. Click an axis (a coloured circle or a card) to light up its ring and its axis and to read its description, press X-ray to look inside at the motors, gearboxes, controller and cables, and move each joint with its slider.
A gear motor turns the left wheel. The slider sets its speed (positive = forward). Its encoder measures the real speed.
Same on the right. If the right wheel is faster, the robot turns left; with opposite speeds it spins on the spot.
A free ball or swivel wheel with no motor: a third support point so the robot does not tip over.
The lidar (a rotating laser) measures distances all around to see obstacles and build a map. The front bumper and an IMU (gyroscope) complete the sensors.
The heaviest part: it sits low, between the wheels, to keep the robot stable. Its capacity sets the autonomy. Seen in X-ray.
A microcontroller runs the fast loops (PID on the wheel speeds, using the encoders) and a small computer runs navigation and mapping. Seen in X-ray.
The wheel speeds are in rad/s: v = r (ωL + ωR) / 2 and ω = r (ωR − ωL) / L, with r = 0.07 m and L = 0.40 m as on the mobile robot page. The orange line is the path the robot has driven (odometry). The model is simplified: the real inside depends on the make.