Interactive tools for robot kinematics, control, and motion planning.https://devol.dev/https://devol.dev/posts/particle-filter/https://devol.dev/posts/particle-filter/A robot woken up somewhere in a building it has the map of. Belief as two thousand guesses rather than a mean and a covariance, so it can hold two places at once until the map tells them apart.Thu, 10 Sep 2026 00:00:00 GMThttps://devol.dev/posts/kalman-filter/https://devol.dev/posts/kalman-filter/A sensor that reports position only, fed into a filter that reports velocity too. Add a second, slower sensor and the same update fuses it in: precision adds, whichever one arrives first.Sat, 29 Aug 2026 00:00:00 GMThttps://devol.dev/posts/behavior-trees/https://devol.dev/posts/behavior-trees/A robot patrols, breaks off to approach, breaks off that to recharge. No state machine is coded anywhere.Sun, 16 Aug 2026 00:00:00 GMThttps://devol.dev/posts/quadcopter-kinematics/https://devol.dev/posts/quadcopter-kinematics/Four propellers, all pointing the same way, and six degrees of freedom to cover with them. Fly one in 3D and watch the mixer decide what each motor gets.Sat, 15 Aug 2026 00:00:00 GMThttps://devol.dev/posts/filtering-a-noisy-sensor/https://devol.dev/posts/filtering-a-noisy-sensor/Noise, drift, and mains hum are three different problems wearing the same disguise. Four filters, and which corruption each one is actually for.Thu, 13 Aug 2026 00:00:00 GMThttps://devol.dev/posts/rapidly-exploring-random-trees/https://devol.dev/posts/rapidly-exploring-random-trees/Throw a random point at the space, step toward it from the nearest thing you have already reached, and never enumerate the free space at all.Wed, 12 Aug 2026 00:00:00 GMThttps://devol.dev/posts/differential-drive/https://devol.dev/posts/differential-drive/Two wheels, two motors, and the one equation underneath skid steer, Ackermann steering and every trailer that ever jackknifed.Mon, 10 Aug 2026 00:00:00 GMThttps://devol.dev/posts/configuration-space/https://devol.dev/posts/configuration-space/Grow every obstacle by the robot's own shape and the robot becomes a point. Every planner after that is simpler.Fri, 07 Aug 2026 00:00:00 GMThttps://devol.dev/posts/mecanum-drive/https://devol.dev/posts/mecanum-drive/Drive a mecanum chassis, watch the four motor powers, and find out why mounting the rollers wrong costs a whole degree of freedom.Wed, 05 Aug 2026 00:00:00 GMThttps://devol.dev/posts/a-star-search/https://devol.dev/posts/a-star-search/Dijkstra plus an estimate of the distance remaining, and far less of the map examined.Tue, 04 Aug 2026 00:00:00 GMThttps://devol.dev/posts/breadth-first-search/https://devol.dev/posts/breadth-first-search/Every cell one step away, then every cell two steps away. The first route it finds is the shortest.Tue, 04 Aug 2026 00:00:00 GMThttps://devol.dev/posts/depth-first-search/https://devol.dev/posts/depth-first-search/Change the queue to a stack and every guarantee disappears.Tue, 04 Aug 2026 00:00:00 GMThttps://devol.dev/posts/perceptron/https://devol.dev/posts/perceptron/One neuron computes a weighted sum and thresholds it, which draws one straight line. Everything else follows from what that line cannot do.Tue, 04 Aug 2026 00:00:00 GMThttps://devol.dev/posts/dh-parameters/https://devol.dev/posts/dh-parameters/Four numbers per joint describe an entire arm. Type a table in and watch it appear.Mon, 03 Aug 2026 00:00:00 GMThttps://devol.dev/posts/gear-ratio-and-what-it-costs/https://devol.dev/posts/gear-ratio-and-what-it-costs/Bigger gears turn slower and push harder. Change the tooth counts and watch the train work it out.Mon, 03 Aug 2026 00:00:00 GMThttps://devol.dev/posts/q-learning-the-table/https://devol.dev/posts/q-learning-the-table/A robot learns to pick and place by filling in a table of numbers, one cell at a time.Mon, 03 Aug 2026 00:00:00 GMThttps://devol.dev/posts/inverse-kinematics-two-ways/https://devol.dev/posts/inverse-kinematics-two-ways/Every reachable point has two arm configurations, and choosing between them is a real decision.Sun, 02 Aug 2026 00:00:00 GMThttps://devol.dev/posts/tuning-a-pid-by-hand/https://devol.dev/posts/tuning-a-pid-by-hand/Three gains, each one a trade. Tune a joint and watch the response change.Sun, 02 Aug 2026 00:00:00 GMT