inverted pendulum

[rukrul]

16 robots viewed this

[kerefekaa]

Hi, great job I'm just interested, have you used fuzzy logic or PID controller?

[crazymuthaphukr]

What does your closed loop transfer function look like?

[munish4u911ex]

frikkin awesome !

[Emrys7]

Is the control system using fuzzy logic?

[rivert1to1last1save]

how the fuck did i end up here

[TheRednaster]

@rivert1to1last1save no idea

[SomeAznDudeOrDudes]

that's cool

[Nitro2911]

cool!!!

[ramedlol]

Why would anyone dislike this video?

[ArlentiousCypth]

@ramedlol jealously... - v -

i was totally impressed too~

[xistoxs]

Is it possible to set the controler to keep angles other than 90 degrees?

[ijpulidos]

@xistoxs That would mean having a really long track and an accelerating robot/controller. Since at different angles force due to gravity would not cancel to normal force... simple physics.

[ahem88]

how do you measure the angle?

[lubey111]

@ahem88 I'm guessing they used a rotary encoder

[RussianAssassin21]

I sure hope Skynet doesn't see this.

[VortexNL]

Dude that's NICE!

[Peeze16]

to be honest i pooped my pants when i saw this

[hhaidar90]

holy shit dude.. my instructor told me inverted pendulums were really cool. now i believe him!

[marcleny]

hola amigo una pregunta como lo hiciste puedes alludarme

[uranio256mx]

Do you have any publication?

[bradder555]

i like it alot, i like your control methodology appears very heuristic, are you using some sort of pseudo-inverse compensator for position control and disturbance rejection? or are you using a predictive controller like DMC? i'd be very interested in hearing your general approach to the control problem

[llamadodesombras]

awesome

[locomondoss]

i want to d that!!!:(

[TheEEStudent]

Gr8 job. I remember doing this in control lab two years ago. We had linear control (only holds when it is almost upright) and non-linear control, which worked much like the way it does here.

[TOPTHL]

what control algorithme and how many feedback state.

[antimon40]

tugas pak arif nih

[mox889]

nicceeee control is that ur bacherol project or u just made it for fub :)

[Zetune79]

pretty cool

[Liizardd]

I don't know a lot unduly about it but such a device after the proper alteration it is possible in order to apply in two-legged robots

[marangkerapu2002]

fulamak!!! whew!!! holly shit mannn!!! can i buy 1!!! hahahaha

[sniperspikes]

thats pretty cool

[giorgos11235]

do u have sensor for the angular velocity (dφ/dt)? cause i didn't have so i calculated it with the simulink program

[snuffsan]

Väldigt coolt

[kidspranqe]

lol i want 1

[polypolyman]

that is nice...

[Aburagara]

nice sensory feedback system.. that should be worth a time watching..^^.

[albertorg]

Wow! great! are you using a printers motor?

i have an old inkjet with a bipolar stepper, 7.5 deg. did you think that would make it, also.. what encoders did you put to get the angle?

thanks

[alexdixeysk8]

holly shit

[sunynight3]

it loads ages :S

[greytin81]

The balancing of an inverted pendulum is a major feat of Control Engineering. This technique is majorly employed Auto, Aero & Space industry.. glad u posted ur demonstration.

[Johnch1982]

Wow~amazing~^^

[y0urcl0ne]

wow, impressive

[JaeyoungYun]

amazing~zz

[Vicious516]

I wish sometimes that the reward of my hours of hard work was to be a dick to a robot too. Well done.

[Deathwing2]

You know eventually that robot is going to get sick of you fucking with it and then we'll all die

[Borrelaas]

i know, they will be sorry

[jublywubly]

@Deathwing2

Hahahahaha 

[lolatstufff]

lmfao omg wtf i love it

[TheGT4sm]

Amazing ;O

[thatsmybutt]

woah! awesome!

[BPx3]

I can do something similar with a broom on the palm of my hand. Amazing that you created this.

[rasmusxp]

This amased me I think you're very talented

[urmish]

great work

can u plz mention the major components you have used

If not all plz tell us the type of motor used(and some specification) over here

[0onathano0]

Your not alone, brother.

[liquidgold1]

Same here haha.

[chentediazs]

Great work!

[masterchiefirl]

nice work

[spikespeigel]

lol stop interfering the machine is trying to do its job! =P you keep messing with it

[entjoynes]

this is a boring algorithm!

[JohnM3D]

Nice one.

[tiagox2007z]

Very High!!!!! @__@

[PHOG1]

very clever :)

[chrisjako]

wow really cleaver the way it times it's self to catch it back on the swing.....impresive.

[cupmike]

you should have pendulum playing in the background

[casper911ca]

as a mechanical engineering student this is the awsomest (no such word) . really really neat. thumbs up

[jimbolimboboy]

ibet tht machines getting really pissed of ilmao

[tonyeddie]

Well said govna'

[huangming44]

no,perpetual energy is not green?pointless argument-ended.

now,The 2nd law of thermodynamics is more related to heat engines and perpetual motion, than this. Infact they are hardly related to perpetual motion of this kind as it doesnt operate based on two bodies of heat!both kelvin planck and Clausius describe 2nd law in terms of a device operating between two different temperature bodies. i think you mean 1st. Energy in must balance energy out + energy of the system.&then u talk abt friction..

[azure8472]

jag alskar fysik! tack for the video

[Marika4u]

i want 1! just for the sake of it!!

[huangming44]

THATS not what perpetual energy means.. gee i link this to show my friend something and theres always these people..talking about .... eugh stuff it.

and perpetual energy is not green energy. totally TOTALLY unrelated.

[johnnyzondo]

of course by perpetual energy i mean a wayfor mankind to find a source of energy that wouldnt pollute and could be easily produced. the driving force would be gravity i suppose...along with energy to balance the pendulum enough to allow it to drop strait through. sortof like a gravity based windmill (shrugs)

[johnnyzondo]

out of curiosity, if the pendulum could then be allowed to fall straight through the leveler thing and say...roll wheels which in turn would create an electric charge...wouldnt that possibly be able to be a source of energy? naturally it would require power for the leveler to move...but as long as it required less energy than it would put out...well...perpetual energy? probobally not for lots of reasons...but, just curious.

[johnw188]

"as long as it required less energy than it would put out"

Therein lies your problem. The second law of thermodynamics essentially means that we can never build something for which this is true.

[johnnyzondo]

even using gravity? i mean i understand what youre trying to say but im not sure youre getting what i may mean. lets put it this way: how much energy would it take to stand the pendulum up? and if the pendulum then fell strait down (using gravity) how much energy could its weight (rolling wheels to produce electric charge as it falls) would it produce? as long as it produced more energy than it uses...it might be possible. doubt it though.

[BenJHare]

Unfortunately the powers that be have conditioned the world to think that all energy is always conserved, and that a system is unable to releace more energy than is put into it.

I'll prove them wrong, look out for my name in a few years.

[Br0k3nS41nt]

Energy is nether created or destroyed, therefore a machine transferring one kind of energy to another cannot make more. The outcome is always less then what is put in.

[agmarkis]

it should balance something a lot bigger, that would be even more awesome

[omgz0mbie]

i love it lol

[Ryumaru1]

lol a balancing robot XD great job!!!

[Croscet]

good job !

[stevendenney]

this is awesome

[line321]

What would happen to it in an earthquake?

[sclemzoid]

i thought it might have been coma reversed

[awhintersday]

lol was also looking for dnb but what the hell it's pretty cool

[NiXAeternus]

awsome!  5/5

[manicmushrom]

wtf y would any one waste thier time making that!!!

[poloptree]

ITs what that technology leds to, chances are things like this will be used to help balance robots etc. Ever seen the robot Japan made that can ride bikes? Its fucking pointless but it will be useful for invention to come.

[manicmushrom]

i supose so

[rnwepc]

thats awesome

[nathleedstothebone]

think we all were lookin for DnB

PRETTY NUTS THOUGH

[TurnerOund343]

i was lookin 4 drum n bass, this ain't that awesome...

[RoyyGreene]

Lol me too

[poloptree]

YH man, i looked at this WHILE playing pendulum. Trippy...

[dahockeydude]

lol ye pendulum (Y)

haha oh welll still rather coool

[pennermo]

yep

[DrakosCX]

me too lol

[xxbenskixx]

pretty impressive.

[matthopekids]

awesome. I want one, I don't care how it works I just want one lolz.

[grimdigger]

How sad is this guy? I mean come on, he is wearing a puma top! 90's!

[BrunoDerBaer87]

I was searching for the band pendulum... but this video is pretty cool ^^

[marcosjoy]

me too ))

[camperkid]

lol yea I though that this was some new song that I had never heard of lol xD

[cheesewithtoast]

same

[U2ymee]

I think this is with Fuzzy controlling csikjarudi! (bar mondhatnam magyarul is :)) Inverted pendulum is a typical example for that! I did this in MATLAB simulation!

[schabanow]

Fuzzy logic is absolutely not necessary for the item. Germans did it before WWII with vacuum tubes and nowadays I'm doing it with few general purpose OpAmps and a pair of automotive actuators. ;) See my unfinished experiment - first try.

[jclwhite]

What an incredibly cool and pointless invention :D

[schabanow]

What do you mean - "pointless"? All rockets now use this "useless" invention though.

[codderz]

you know what would make this perfect?

slam in the background ;)

[6Banner9]

Thats officially the best comment i've ever seen!

Congrats ^^

[lightningblade17]

this is on waverlyflams favorites

[Imij11]

That's how I found it.

[beca60]

hey me too

[tamedmind]

me too

[dethxklok]

me too^2

[Jaketoshiba]

Amazing piece of machinery :D

[SweeneyB135x]

whats this about?...someone explain, PLEASE?!

[guillecrawley]

The team tries to control the stick in vertical position and they to gives upright from rest position. It takes a lot of electronics, physics and math work. I'd like to see the bloopers...! Very clean job.

[csikjarudi]

I guess you used nonlinear control for swing up, and after switched to a simple PID-like linear control for upright equilibrium point. Nice job, by the way.

[RFTD88]

haha thats cool =]

[Gicior]

Do you have a paper published anywhere that we can have a look at the details of the controller? Especially for those that don't know what cascaded linear state feedback is. Also, did you tune the state estimation and friction compensation by hand, or did you use some kind of machine learning?

[hrvatV]

very good job!!

[kg6abb]

nice idea

[Kubric]

Awesome!

[Yarza84]

Which control technique was used in this pendulum??? Fuzzy, linear, nonlinear???

[Tsunmys]

PID :D

[dustjunkey]

dont tell me u reprogrammed a printer !!? this is freakin brilliant !!

[Kourtakias]

he didn't reprogram it. He appears to have used the printer's slider and servo motor and he feeds all information on the positioning of the pendulum mount to a PIC. At least that's what I think...

[1991larsJ]

I can do something like that .... with my nose but this is much cooler :)

[drendedrater]

pretty cool

[owenik1989]

awesome.. I wish I could build sth like that in the future...

[b4parkour]

cruel cool!

[mrffoeg]

CHUNE!!!

[Alex3330]

Wauw, that's cool :D Its fun to see, it looks like the computer get annoyed xD

[ruskiikoshka]

what kind of control it uses?

[ldaza1]

Very nice. But don't get too carried away, Segway's have been doing this for years in the real world at 20kph over uneven surfaces... with your noggin as the pendulum!

Still... quite an accomplishment.

[Ossinio6]

This 'thing' + Pendulum music in this clip will be great :)

[play179]

hell yeah! *fasten your seatbelts*

[becksorcist]

ROFL^^

[codderz]

cookie for you ^ ^

[a51ts2]

That's really cool :)

[dpatulea]

maybe a development for earthquakes would be nice to be implemented from this invention.. cool stuff man.

[Boomproof]

U have no idea dude rofl

[pyrokinetikrlz]

i told my friends about this vid. They just can't believe this had been implemented in real life.... LOL engineering ftw!!!!

[DJFlyteUK]

That's amazing :D

Much more impressive than Pendulum the band have ever done ;)

[StripedStripes]

Shit va cool :D

[xXSamariterXx]

i was also looking for the music, but thats nice... once i saw a robit like this at the nürburg ring (gernamy) it was a wheel and on the wheel was a ball... my english is not very good... so i think you can imagine what i mean^^

[pyrokinetikrlz]

i was looking for pendulum music, but this robot is simply awesome. Inverted pendulum is a classic problem in control engineering. CONTROL FTW

[emmetyousee]

lol

[DrGerbick]

doesnt this type of stuff get you a medal or something...?

[sucmydohc]

Lmao! everyone found this searching for Pendulum tunes!hahaha! that is a bad ass little robot for sure!! someone please remake this with "girl in the fire" in the background! :D

[illegalkid2]

I searched for Pendulum lol.

[DJLordstar]

sorry to say but +1

[Perfect64]

Thats evil =) can you make your robot dance to pendulum please...

[alexOfDeath]

Dude. Awesome.

[Rockicz]

wtf?:-D imba m8

[johnclavis]

Fucking *awesome*. Magnus Linderoth and Kristian Soltesz rock -- you even have mad scientist names already! Your robot is really good at what it does. I'll bet you could easily make one that works in both x and y dimensions -- if you haven't already! And then, from there, it's only a short hop to world domination and NONSTOP SEX! Thanks for posting this! Rock on!

[mapcHeymep]

cooool.....!!!

[steve0619]

thats s1ck!!!

ALLTHOUGH it does lack drum and bass background music

[Alejampski]

awesome! how did you make it do that?

[HaxxBlaster]

Skithäftigt!

[mynameizcasanova]

this isnt pendulum, whers the drum and bass

[launger]

niceee

[powerfultr]

nbr lan :D

[maku1989]

wow!

[WtfCc]

Need program ^^

[joethegod]

reallllllllllly nice

how does the maths work? :)

[regiscruzbr]

Gostei de ver, vou montar um.

[djenduro]

its an old dot matrix printer that learned a new trick!!

ps this is actually really neat

[mattbrap]

thts actually quite amazin

[parrebuff]

Awesome!!!

[Flatlegs]

It looks alive :)

[amjwUK]

wicked!

[milkykung]

Wow,Kristian. Splendid design and real-time response !!! I think your moving algorithm after perturbation is so instantaneous.

[30mate]

ah thats a cheat i know you put viagra in that computer xD

[howzeman]

nice & amazing!

[geolab101]

wow. i was searching for DnB but this video was still worth watching. that looked like it took some really good programming skills. nice job.

[wurth987456]

ye i was looking for dnb too maybe stik a trak on in the bakground like spor outbroken or snthin

[yomumisminging]

lol i was searching for drum and bass :P

[daveyj1986]

Thats some impressive shit!