Unibot - 3D stabilization

[0163254467]

Hai can u tell what is the application of this Unibot?

[lordskeletorde]

Impressive!

[blqkvo]

Just one silly question: Does the flywheel have an extra weight somewhere on its outer rim, or is the flywheel uniform and acts like a big stabilizing gyro?

[jvpommeren]

@blqkvo

The wheel is uniform. It is used according to the action = - reaction principle: when the body of the robot tilts, the wheel is accelerated in the same direction. This causes a reaction that accelerates the body back towards the neutral/upward position. So the wheel is not always spinning like a gyroscope.

[blqkvo]

@jvpommeren Yes, of course! Thanks for the clarifications. Soon I`ll have to build something similar for my course and I`m already doing a bit of research. Im not planing on copying this design, I hope to find my own solution. Thanks!

[zangarkhan]

this is cool



[ShaDoWworldshadow]

lol for some reason I thought that was huge until I saw your hand,

[IceBreaker987]

aww... but its so cute! and maybe you could upgrade it with lasers or rockets or something? :D

[AnUnlimitedRecord]

but will it blend?

[FatBoySlim696]

Very cool.

[lugaresmachine]

cool !!

[swjedi101]

tina turner

[amrosik]

is that a disc in that thing to create a angular acc?

[TheWingflyer]

What happens is if you keep pushing on it even after that reaction wheel's reached its max RPM?

[DrSleep181]

Nice, so that´s how Gizmoduck was working! :D

[TheShak1911]

next time build something half that size

[focusdesigns]

This looks like a whole lot of fun for a graduate project. good work!

[kszz71]

this can and has been done using mechanics and magnet's only.

[amfikz]

looks like from stone age

[ForViewingOnly]

Incredible, just incredible! I'm trying to learn about gyroscopes and the code needed to read gyroscopes and control servos accordingly to get a machine to balance. I know nothing about this subject - where can I start? Can anyone give me some website links? Thanks.

[U2Btroller]

Did you use accelerometers too, or just gyros?

[jvpommeren]

@U2Btroller: only gyros were used, next to motor speeds derived from encoder angles. The robot has an accelerometer in the pitch and roll planes, but they are not used (signals were too noisy).

[canufeelbass]

words of stephen hawking, "we shouldn't put all our eggs in one basket" - otherwise we'll end up just like the dinosaurs. However, in order to build these colonies we would need to withstand complete vacuums, intense radiation, extreme conditions etc found on other planetary bodies. Which humans really cant survive in all by themselves. So how do we build these colonies for us to eventually live in? Simple, robots. Robots can survive pretty much all these conditions that we could never face, a

[canufeelbass]

Alot of people commenting on robot videos always ask how these robots are gonna be useful.. Well there are so many reasons.. The big problem with living organisms on planet earth is the fact that we can only live in conditions like that of planet earth (i.e. We need water, oxygen, food, heat, protection from radiation etc) And for our species to survive we must build sustainable colonies on other planets and moons to shelter from the event of major asteroid impacts for example. In the words of

[vingemusen]

what do it do? why make this?

[tetisweed]

okey and what for we gonna need it?

[123wordbird321]

awesome robot. tina turner's song from Mad Max, even better.

[varanamaayiaram]

did u made the gyros by self or wt

[dinnerandashow]

We are still such a long way from "I Robot".

[half4team]

The 'Mike Bax' in the title, is he a dutch man?i might have gone to school with him.

[jvpommeren]

yes he is dutch, so he might be your old class mate.

[johnghadlington]

thats really good.!

[BulgarianBoy92]

wouldn't be easier with a gyroscope ? :D

[ozanenginoglu]

he basically made a gyroscope!

[Ragewolf2008]

it was great to hear Tina Turner - "We don't need another Hero" in the background.

oh ya nice bot.

[guitgeo]

That's one of the coolest things I've ever seen !!

[danich45]

segway watch out your out of business

[tubetubetube]

@danich45 lol

If Segway cant compet with hypotetical single wheel product, it is more likely that segway will sue them out of existence. This is how the courts work these day in the us of a... They will sue every marker of "stand up" robot or transport before going out of business. Because there is good money to be made for the shareholders.

"Welcome to the United States Department of Justice: To protect faild business model and enforce monopoly"

[nightfoxx26]

@tubetubetube why there is no legal infringement

[tubetubetube]

@nightfoxx26 Like it ever matter... Inovation always get sued out of existence at first. They return only years later in a other form. Lawyers are very creative to find ground for lawsuit.

[hkhandan]

Good job. I specially liked the big wheel. But if you could actual weights for balance?

[fassenkugel]

with 4 wheels u dont need ballancing :)

[monkeyology1]

Thank yoooooooooooooooou

[9luigi]

for zurück for zurük

[wautur]

nice...goed bezig!

[Sven2Perroy]

nice robot

but what does it do?

beside standing there doing nothing?

its gonna cost to the society!

[LSLencrypted]

That's very short sighted - the laser was developed by a scientist "for fun" he didn't think it would make any difference to the world wether or not he had researched in that area - and look at the world now :)

[rodstartube]

yes, we dont need another gyro

[DemonDrug95]

i wouldn't go near im scared it will fall on me

[rodstartube]

DemonDrug95 fag

[DemonDrug95]

douche.......

[dranoel1963]

its wired to the computer?lol and i guess the computer is playing with his little toy :D

[Andernoo]

Really it's only 2d?

[TheYurry]

time is the 3. dimension ;))

[jvpommeren]

@Andernoo: yes, in fact it is only 2D.

[vxcriss]

Tina Turner FTW!

[DeaconSwayne]

Nice! We also use gyros in aerospace for navigation, incredibly useful tool.

Also, cheeky fart at 0.13 ? Come on dude, i heard that!

[valiumsummer]

LOL @ CHEEKY FART!

[nightfoxx26]

@DeaconSwayne lol I went back to that part because of you and now I hear it every time.

[jadenjak]

were would we be without gyroscopes?!

[themanyone]

I guess you can't really git rid of the gyro entirely, I mean, if you study the motions, we actually use our arms or upper body as a gyro all the time.

[Flea5000000000]

amazing

[seamanspencer]

is that big enclosed wheel for lateral correction by accelerating opposite to the direction it is falling?

[ozanenginoglu]

simply great!

[Karpens16]

It would have been nice to do more side push tests, I love the way it reacts.

[MatrixOfDynamism]

I have a Question. ANy Idea how a 3d Inverted pendlum did work?

[rodstartube]

what song is that one, "don't need another GYRO" ?

[Arthurein]

LOL!

[mryellow123]

I like the background music

[RustyNex]

that is a beautiful piece of work, very clever

[Taaplari]

Very good work!!

[lyquidkill]

Despite all of the idiots and ignorant haters, this is quite impressive! Keep up the good work. What they DON'T realize, is that in order for a BALANCING robot to be able to accelerate and decelerate quickly, you need to have a top-heavy robot to counteract inertia without it rolling the bot over and over...well done!

[h333333333h]

can I use fischertehnik in 50$ robot

they use servos, and they have 3 wires (red, black and yellow)

plz

[Hodenschwellung]

If u use an servo they usually need supply voltage and a pulse-width modulated signal for the position... greetz

[nanaismydog]

rofl true jhiller21

but a robot with one wheel is just soo much cooler!

[tidussloan]

@nanaismydog

-you may also replicate the lift force of an airfoil by a pulley system...

[jhiller21]

You can pretty much replicate the balance aspect of this by, I dunno... adding a second wheel?

[WeedyFlash]

think of all the uses for this! you can do things like.... uuh... hmm, entertain the elderly?

[LookMaNoBrains]

WOW! this invention is so gonna put 100,000 people back into jobs and help revive the gloomy economy! Yay!

[1peacepower1]

good job

[unione315]

i.. really don't know what it could be for

[DCcircaskater]

Take the plastic off and it's a fan :D

[unione315]

LMAO that's a good one

[DCcircaskater]

What, some people could use a very high tech fan, couldn't we?

[unione315]

what more USEFUL options can a very high tech fan offer when a fan's only purpose is to blow cool wind to a certain area or person?

[DCcircaskater]

Well I'd feel lucky if i blew on me :D

[DCcircaskater]

Oops, I mean it not i after "if"

[mz119988]

what is really the point of this machine?

[taschler]

it can balance its self on one wheel

[TommyN00b]

hello captain obvious

[taschler]

hey your name is TommyN00b

[TommyN00b]

dang your a good super hero

[Ostrid1]

hahhaha

[TroyOi]

Great work! So, are you going to come out with a 1-wheel Segway and put Dean Kamen out of business?

[ackoh13]

lol

[Danaroth]

The basis of an automated rocking chair/cradle?

[JamboyStu]

Brilliant. Great work!

[Nerd10101]

lol, wtf is the music in the background?

[GomerDose]

I was going to make an asshole comment but I won't after all

[Doowoo]

Cool :D

[skl1cent]

is that big thing a gyro? try it with a GY401 rc heli gyro!! i wonder if it works LOL. imagine, haha.

[9578755]

not stable enough, needs more loads of work.

[planemadmatt]

like ur brain

[evilblades]

your missing the point, its a machine that can stabilize itself, not a machine that stands around doing nothing.

[BasSSSsie66]

NIce !!!!! :)

[zenithbay]

Wow...Simply amazing !

[smoothsk8r44]

Tits!

[voicetube]

LOl! Well, not exatly "tits" ... but almost as sexy!

[smoothsk8r44]

ok...I can deal with that.

(...is kinda' sexy...lol)

[doug65536]

How many times per second is it recalculating the motor outputs?

[jvpommeren]

100 times/second (100 Hz sample rate)

[worthbeads]

There are people who have invented 1-legged robots that continuously jump to keep their balance. They are sweet!

[DANVELVILL]

By the way. I made my own segway-like small balancing robot and now I was trying to get it balanced on one wheel only without success (for now) when I saw your video. You got it first! Congratulations!. May I ask for the diameter of the balancing wheel and the total mass of the robot?

[jvpommeren]

Thanks for your comment. The diameter of the large wheel in the lateral/frontal plane (not on the ground) is approx. 200 mm. I guess this is the wheel you are talking about. The total mass of the robot is a bit more than 4 kg. Good luck with your robot!

[DANVELVILL]

Thanks a lot for answering. I have uploaded 2 vids of my robot here in youtube. Have a look at them if you wish. Wow. 4kg is a lot. Mine is 1.5kg and I've tried lateral balance with a 100mm diameter, 180gram wheel without success so far. I'll try a bigger wheel and higher reducion ratio in the motor gearbox. I think 2.3:1 is too low.

[DANVELVILL]

I saw the segway and I was amazed.

I saw the murata boy and was amazed again.

Now I see your robot and I'm double-amazed.

GREAT GREAT GREAT Work!

[123YouBelongToMe]

We don't need another heroo! (8) :D

[korgri]

balance on a basketball, or some globe type thing.. go any direction that you lean in/to/where/thing

[anukefromrussia]

very nice! we can have one-wheeled segways now :D

btw, tina turner forever!

[VideyoJunkei]

how heavy is the flywheel?

[jvpommeren]

approx. 1 kg

[nattavision]

looks really unstable, like a small tap and it will fall over, and its a bit big too, but besides that good work!

[paintballingguy]

DUDE, now you've got to make a gizmo duck suit!

[AVAMagneticlev]

unreal great work dose it have an intended application.

[RoboTekno]

i love it, nice work!  :D

[doodahdom]

what the hell is this ?!?!?!?!?!

[chadtoyota]

we dont need another hero

[RhinosoRoss]

How about a sphere (like a driven computer mouse ball) rather than a wheel, which would allow corrections in both axes of similar degrees... I guess the sphere would need to be fitted in a recess surrounded by bearings and have two motors placed like mouse optical encoders, one for each axis, pressing very hard onto the driven sphere. To stop debris getting from the sphere to the bearings, you could have a ring of bristles pointing away from the bearings. Stick a seat on top and it's a fun toy!

[adamustein]

at first i thort it was much bigger, maybe a metre or so at least, so i chuckled a bit when i saw the big hand come in 2 the video screen!!

haha

[maskednegator]

Fantastic! Do you think you could get rid of that limit seeking behavior?  Also, how much deflection can the robot absorb before the motors saturate?

[jvpommeren]

Don't know what you mean with limit seeking behavior. If you mean the small movements you see all the time, I don't think it is possible to get rid of it. Perhaps they can be reduced though.

When the controllers are working, currently, the motor in the driving direction hardly saturates. It can at least cope with angles up to 10 degrees.

[martel80]

So you're limited only by the torque of the motors?

I mean if you had motors with higher torque (acceleration), you could make the feedback control much faster and perhaps eliminate or shorten the oscillations and overshoot.

[jvpommeren]

Motor torque seems to be limiting for the lateral/roll (side to side) angle. A heavier motor might improve things, but keep in mind that the power supply is also limited. I would start with trying to make a better model of the dynamics, such that a more reliable controller can be designed.

[jvpommeren]

In the lateral direction the robot can recover from angles up to more or less 3 degrees. The unstable behavior in this case seems to be caused by saturation. However, this doesn't seem to be a lack of power: when the full voltage is applied to the motor in open loop (controller off), then the robot can get up from about 15 degrees.

[johan314]

jvpommeren, which gyro do you use in this application?

[jvpommeren]

Analog Devices ADXRS150-EVB

[michaelsteinbach]

Wow, this is an awesome machine. I have been trying to bet a two wheeled bot balancing for awhile now and your bot has given me some ideas to try. When I get mine working, I'll definitely give the 1 wheeled bot a try too.

[takzuo]

Muy bueno realmente muy bueno!!!

[Waldemar3]

FUCKIN' AMAZING! I wish more people knew just how important and innovative the newer gyroscope technology is. :-)

[RaYmaNproductions]

Jascha - good to see that indeed only feedback of angular velocity (gyros) and motor velocity is needed for stabilization in both directions. This is definitely a unique solution and a great video.

[go1denheart]

excellent. I'm very proud of all the labor I put into it and your efforts.

[ggraham1121]

Awesome! I knew you could do it.

[Vegakade]

Wousers, that is a real stable one. Bravo!