Simple balance control for a Kondo KHR-3HV
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Uploaded by Xanhast on Apr 19, 2011
(No Audio) Single axis balancing by adjusting the ankle servos to negate the pushing force. Gains still need to be tuned more, this is only using proportional control.
The number on the left is the angle (roll) that the IMU is reporting. One cable is powering the IMU & Gumstix, the other is an ethernet connection to the Gumstix. All control is done on the gumstix, the connection is just for the ssh session to see print outs etc.
Hardware:
Kondo KHR-3HV Robot Kit
Gumstix Verdex
Sparkfun 9DOF Razor IMU
2x Pillows
Terrible laptop webcam
- 3 likes, 0 dislikes
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very excellent
can you share your idea to do that
camthucongsan 4 months ago