Highlights of my Master of Science thesis research project on active humanoid robotic balancing on dynamic terrain.
This video shows the four control algorithms implemented (PID, Fuzzy Logic, two different-sized Always-On Artificial Neural Networks) used in conjunction with two control policies: Do The Shake (where the robot attempts to keep the deck level at all times) and Let's Sway (where the robot induces a rhythmic oscillation to the deck).
This video was filmed at home in June of 2015 using Jimmy, one of the University of Manitoba's DARwIn-OP robots.