Holonomic drive robots, ones that can independently drive each of their degrees of freedom, are incredibly agile. If one finds oneself having to participate in some kind of robotic jousting, such a robot is an excellent choice. I will show an example of one, which recently won a duelling contest organised by everyone's favourite small fruit based computer company, and walk through the various systems, gotchas, maths, mechanical design, electronics and software needed to create her.
Slides are online at https://docs.google.com/presentation/d/1kUL0ilc0b5qm6v7doisWAt3jBqe7MiwLD0FTU3ZnmrA/edit?usp=sharing
Triangula's documentation (including a more thorough derivation of some of the maths in the talk) is at http://pythonhosted.org/triangula/
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