USC Robotics Lab Segway RMP videos
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Videos of the USC Robotics Lab's Segway RMP

These videos may not be used for commercial or for-profit purposes. They are copyrighted by the authors.

Here are some videos of the USC Robotics Lab's Segway RMP driving around, using the Player robot device server. Look here for information on how to do this yourself (assuming that you have an RMP handy).

These experiments were carried out on 21 June 2003 by Brian Gerkey and Andrew Howard.

Thanks to John Sweeney for writing the original Segway driver and to Chris Jones for implementing Johann Borenstein's Vector Field Histogram (VFH) algorithm as a Player driver; we used it throughout the autonomous tests shown below.

For videos of a simulated Segway RMP running about in Gazebo, look here.

All videos are in real time, formatted as AVIs, using the DivX codec.

First drive off the lot. This is joystick control, using the Player utility playerjoy.
[3.2MB]
Autonomous wall-following, at 1 meter/second (fixed camera angle).
[3.7MB]
Autonomous wall-following, at 1.5 meter/second (camera following robot).
[3.0MB]
Autonomous wall-following, at 1.5 meter/second (camera strapped to robot).
[4.8MB]
Outdoor autonomous obstacle slalom (head-on angle).
[2.8MB]
Outdoor, off-road, joystick control.
[4.4MB]
Outdoor, spectacular fall under joystick control (follows previous clip).
[1.2MB]


Last updated $Date: 2005/06/15 18:16:32 $