Unibot - 3D stabilization

Unicycle robot balances (on a single wheel).

For stabilization 2 MEMS gyroscopes and angular encoders on the motors are used.

For more info, check out:
http://sicl.ucsd.edu/jaschavp

Category:

Howto & Style

Tags:

• unicycle
• robot
• segway
• UCSD
• balancing
• stabilization
• inverted-pendulum
• one-wheel
• single-wheel
• self-balancing

[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.

[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).

[Andernoo]

Really it's only 2d?

[jvpommeren]

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

[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!

[0163254467]

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

[lordskeletorde]

Impressive!

[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.