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One legged balancing robot

This is the subject of my master's thesis, it uses symmetric inertia wheels to balance on one foot. Eventually this will be incorporated into a hopping robot that uses McKibben actuators and spring...  
 
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pratikac5007 (4 months ago) Show Hide
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Amazing video, I am making a hopper with reaction wheel stabilization and this was inspirational..
ElectronicSculptures (7 months ago) Show Hide
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That's amazing.
MisterMeerkamp (1 year ago) Show Hide
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Hi im the son of vegakade 1 the one you subsribed can you watch my vid?
sravisashi (1 year ago) Show Hide
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damn cool man
Gicior (1 year ago) Show Hide
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really cool. how do you account for gyro drift? also, how do you bleed off angular velocity of the wheels to dissipate the energy added to them by pushing the rod with your hand.
ggraham1121 (1 year ago) Show Hide
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I used an estimator to estimate the voltage offset of the gyros and accelerometers. Over time the gyros do drift, but based on the dynamics the estimator can compensate for this. The controller is an LQG controller designed to bring the angle of the pole and angular velocities of the pole and wheels to zero, so the wheel speed will eventually go to zero if there are no disturbances. Of course it is an unstable system so this will never practically be true... good questions though
MicronXD (1 year ago) Show Hide
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its beautiful lol
smashingparadox (2 years ago) Show Hide
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wow NICE! I can't wait to see it jump!
deadlyfalcon89 (2 years ago) Show Hide
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HOLY SHIT. that is some amazing stuff...

I built one too, actually.

only difference was that mine was bolted and superglued to the table and it just had 4 or 5 motors spinning random wheels :-P
ggraham1121 (2 years ago) Show Hide
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There are two mems accelerometers, two mems gyros and two encoders on the motors used for feedback

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