home robotics

I won't bore you with a lot of speculation of what I plan to do here, only try to chronicle my travails in Mac and Linux based hobby robotics. My first foray leveraged the MIT Handyboard, and building bots out of Lego, then I fiddled with an SRV-1 for a bit, and more recently I've focused on Robotis Dynamixel based robots that uses a serial protocol (rather than phase encoding) to allow servos to be daisy-chained and addressed. The servos also self-report data like current draw, which should prove useful as a kind of proprioreception.

On the computation side, I'm currently working with a Nvidia Jetson AGX Xavier as my base "development" system for both ROS work and eventually for the robot itself (or possibly something smaller).