Miscellaneous

[Airicist]

Balance robot
August 25, 2013

This balance robot that i've built uses two stepping motors as drive system. the main control algorithm is some sort of full-state feedback which was tuned experimentally ( deriving mathematical model for a balance robot that uses stepping motors is not straight forward...)
It cane move over slopes and carry unbalanced loads (center of mass dislocation)
The IMU's functionality is based on MPU6050 and a simple version of Kalman filter (executable on an ordinary microcontroller)

[Airicist]

Makeblock Two-Wheel Self Balance Vehicle Can Deliver the Coffee

Published on Aug 21, 2014

Can you imagine in the future the robot can do house work, for example to deliver a cup of coffee? Makeblock engineer Zhenzhou designed the two-wheel self balance vehicle for sending the coffee.

[Airicist]

SparkFun LIVE: Balancing Act

Streamed live on Aug 26, 2014

For the very last SparkFun LIVE broadcast from our old building, we're going to explore balancing robots. Our own Dave Stillman will show us some balancing robots he's built, and we'll tear down some new balancing robot toys that are ripe for the hacking. And because we're live (and in the process of moving), expect the unexpected!

You can find the wishlist of parts here: https://www.sparkfun.com/wish_lists/92816, but please note that this is an experimental project intended to be a starting point, not a final working product.

Tune in Tuesday August 26th at 3PM Mountain Time. The program will also be recorded for viewing afterward.

[Airicist]

Balancing on one foot

Published on Jul 1, 2014

Watch Emmy stand on one foot while controlling the position of the center of mass relative to the support foot.

The entire robot's movement is dynamically calculated with a damped least squares approach using jacobian matrixes

[Airicist]

How to build a compliant humanoid robot - Self stabilising balance

Published on Sep 8, 2014

The balancing algorithm shown is so far only able to control the motors in the ankles, thus balance can only be recovered from a very minor perturbation.

On the right hand side of the TV screen you can see the Centre of Pressure (COP) which is calculated from six ground reaction force sensors and displayed as a normalised red dot. Each line on the grid corresponds to 10%. The robot tries to keep the COP at the point 25% back from the geometric centre of the area of ground contact. This corresponds to a relaxed pose with the weight of the body almost directly over the ankles.

[Airicist]

Robot
January 30, 2015