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Unicycle - new base wheel + improved lateral balance
mhexrobot
21 views
Replaced the pneumatic PU model aircraft wheel with a solid (rubber/alloy) scooter wheel. This enabled me to increase the feedback gains on the lateral balancer without lim...
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unicycle - perturbed
mhexrobot
122 views
prodding my unicycle robot.
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unicycle - standing still
mhexrobot
117 views
my unicycle robot balancing using two linear controllers.
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unicycle robot lateral balance on tire
mhexrobot
24 views
reducing the bandwidth of the pendulum rate solves the vibration issue caused by the pneumatic tire. now i have both top and bottom of the unicycle functioning without a wh...
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Unicycle robot - good lateral balance
mhexrobot
24 views
Did a bit of tweaking. Works well now. Just need to combine the two controllers now for a full unicycle...though it's never quite as simple as that :)
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Unicycle robot lateral balance without velocity integration
mhexrobot
19 views
Solved the motor heating issue and got the device balancing nicely. Integration on angle but not velocity. Still need to remove the temporary pivot and tune it up.
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Unicycle robot lateral balance - only just!
mhexrobot
34 views
It vibrates. It squeaks. The motor heats up and has significant residual spin despite integrating out the roll angle error (clearly it's balanced!). It's looking like it's ...
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My robotic unicycle with training wheel #3
mhexrobot
36 views
This is the third and final video before I implement lateral balancing. In this video I've increased the ground velocity feedback gain and added a pendulum angle integrator...
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My robotic unicycle with training wheel #2
mhexrobot
32 views
Added position feedback and increased the ground velocity gain to keep it more stationary. Still using manual pendulum angle zeroing.
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My robotic unicycle with training wheel
mhexrobot
43 views
In this video, my unicycle robot undertakes its first successful run with a training wheel providing lateral support. The base drive wheel torque is controlled by pitch ang...
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