Robot Demos

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This page contains instructions for doing public demonstrations of the robots. If you have a program that makes the robot fun to look at, please publish it here. But please remember that demos should be stable. If your program only works sometimes it's not good enough. It has to work 99% of the time!



This simple program makes the robot drive randomly around while avoiding obstacles. The demonstration is quite robust and should be usable in almost all situations. The program only uses distance sensors (no camera) so lighting conditions only has a small impact on the performance of the program.

Installing the program

To install the program, simply download to machine with ERSP installed. Unzip it, and that's it!

Running the program

To rune the program call the behave program with the XML file as an argument. On the laptops, the behave is in /opt/evolution-robotics/bin/ directory. So from the directory where you placed the XML file type

 /opt/evolution-robotics/bin/behave borddanser.xml

Modifying the program

The program is developed using the ERSP composer tool and should be modified using the same tool. So start the composer tool, open the XML file, and edit things. The composer tool is found in the same directory is the behave tool, so on the laptops type


to start the composer tool.

Things to look out for

Currently there's no problems with the program. If you find any, please share.


  • The program also uses the downwards sensors so it shouldn't be driving down stais. The program is also able to drive around on the top of a table if that's better suited for your demonstration.

Object follower

This program follows an object based on it's color. The user shows the robot an object, and the robot computes mean and covariance matrix for the objects color (in Hue-Saturation space). In the following iterations the robot find the largest object with the given color and sets the angular velocity according to the objects position.

Installing the program

Just download XXX and unzip it on your computer. Then run make to compile. The program requires OpenCV and if you want to run it on a robot, you'll also need ERSP.

Running the program

After the program is compiled simply run gulerod.

Modifying the program

It's just standard C++ so you can change it by editing In that file two #define's are handy

  • If #define SAVE_IMAGES is present in the code, the robot will dump all frames shown on the screen to png files when the program is done.
  • If #define ERSP is not present, the program will be compiled without support for ERSP. That way you can debug the program without using a robot.

Things to look out for

The program isn't very stable, so it's not well suited for live demonstrations.


None at the moment.

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