TNERA

Here is a Sidewalk Chalk Drawing Robot, direct from the American Suburbs.

the guy jokingly cites "Keeping up with the Joneses" as his motivation. I think you would understand , essentially “faire comme les voisins” or “courir après le standing”. It is really about the how he designed the robot.

What is the question? 

If you want a "smart wheel" yes you can have the wheel with the motor, encoders and motor driver...  

But using a DC motor with an encoder is not the only working solution...

• You can also try "smart servomotors" that have 360° endless feature like the feetech I have, 
• find some smart wheels (something like a smart servo with the wheel integrated ...)
• brushless motors ...
• Stepper or BLDC with and without external encoders ...

Each solutions have pros and cons ... price, weight, power, size, speed, torque, life time, complexity...

Thanks! Yes, my question is about experiences and other options out there for purposes of motor odometry. My goal is to build a platform to explore Localization and Mapping (SLAM). I am thinking more rugged outdoor locations requiring good torque, life time, power. I would tend away from servo motors and steppers, only because I sense that outdoors is not the best environment for that. Brushless with encoders might be interesting in this scenario. My base thoughts are DC Motor and Encoder. I have no experience with the encoders, that is part of my question.

Currently, I am considering 'recycling' roomba motors. These motors assemblies have an encoder contained on the motor/gearbox. I just need to decode the signals needed. For the motor driver, I will need to provide a new solution as the roomba driver is built into the roomba main board.  

 roomba_wheels_distant.png   255,39 Ko   16 téléchargement(s)

My interest is similar to @ppmd, so this is a great topic. And interesting to follow to learn more. For my project, my preference is to try to reuse these roomba motors if that is feasible, and save my money for the sensors (lidars!)

I recommend a motor with an encoder... 

I like this part of the question. For builders that would like to have the odometry or the start of precision positioning, what are good options for motors w/encoders.  or is it best to add the encoder on to any basic motor?

I guess the complete assembly for a wheel would have Motor, motor-driver, and encoder.  Thus logic required for pwm of the motor, and processing of the data from the encoder.

thoughts/experience?

Oui, c'est bien là, le problème.

 

Perso, j'essayerais bien, ça : 

 

Ah!  but THAT gait is easy to take down with Harpoon and Tow Cables!!   

The Tölt looks very interesting. I think you can do this by just advancing (making earlier) the movement sequence of the front legs from a trot/diagonal sequence.  It could be adjusted by just a couple of timesteps perhaps.  I think it would have to be a 'mid speed' gait, after the momentum of the robot is gained.

good luck!