Spherical and Flat Surface Motion Sensing using Laser Mouse Sensors / ROBOMEC2011

A sensing method of spherical and flat surface using Laser Mouse Sensors.
Raw surface velocities (6 for spherical by 3 mice, 8 for flat by 4 mice) are measured by ADNS6010 in Microsoft X5 mouse (only PCB:-)) and transfered to PC via dsPIC controller and USB-serial converter, whose maximum rate is 250Hz for 4 mouse sensors (1kHz for 1 mouse).
Triplets of those surface velocities are converted into angular/planer velocity vectors, and then the software calculates means of them with weight.
The paper for ROBOMEC also contains use of particle filter for absolute detection. ICRA paper, Development of a Three-Dimensional Ball Rotation Sensing System using Optical Mouse Sensors, also described sensing in the video in detailed.

Category:

Science & Technology

Tags:

• Laser mouse sensor
• ball motion detection
• ballbot
• BallIP