有哪些有趣的开源机器人项目？

yzhanping

前两天在youtube上看到的Arduino 项目 ，结构设计简单，原理清晰明了，实际效果很惊艳。
用120 FPS OpenCV图像处理和平滑四个步进电机驱动，软件根据图像处理数据计算出球的3D位置，并使用此信息控制的乒乓球运动状态，仿真软件很牛逼，跟实物实际效果非常逼近！

步进电机和OpenCV，自个玩乒乓球
https://www.zhihu.com/video/1221196533397737472
创作者还给出对应的备件清单：

- 1x Teensy 4.0 Microcontroller
- 4x StepperOnline DM442S stepper motor drivers
- 4x Nema 17 Stepper Motors with 5:1 planetary gearbox
- 1x 48V 8A power supply
- 1x e-con Systems See3CAM_CU135 camera
- 1x Windows Computer with OpenCV installed on it
- All the parts defined the Fusion360 project
- Custom Windows Application (made with Unity)

甚至还给出了实现代码及实现数据（GitHub）：
T-Kuhn/HighPrecisionStepperJuggler

如果打算自己也来试玩一下的话，创作者还给出了如何选型和为什么选型的博客说明，
https://electrondust.com/2020/03/01/the-octo-bouncer/

Why A Teensy 4.0?
Because 600 MHz. That’s the clock speed of the Teensy 4.0. Compare  that to the 16 MHz you get with most Arduino boards. But why so much  emphasis on clock speed anyway? Because we need to generate pulses with a  frequency of up to 250 kHz for each of the 4 stepper motors. And since  we want the stepper motors to start and stop smoothly, the spacing  between the pulses needs to increase/decrease in a sinusoidal pattern.  And yes, it doesn’t need to be sinusoidal – you could also go for a  sigmoid – but the point is if you want very fast, smooth movements  linearly increasing speed-curves probably won’t cut it. And because this  is quite a lot of calculations to do on a 16 Mhz microcontroller I went  for the Teensy 4.0.