 | | Balancing Bots
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| I'm working on a 'bot that will balance itself, and having pretty good success (it will keep itself up for 30 seconds or so on a good run, traveling around a bit, before it falls over). But I'd like to make it more stable, if possible, so that I (...) (25 years ago, 4-Jan-00, to lugnet.robotics)
| | | | | Re: Balancing Bots
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| From: "Dave Johnson" <djohnson@sirius.com> (...) You can easily do this with a differential. Use it the opposite way of the way that it is used in car models. Hook each motor up to the side of the differential, and then run your wheel off of the (...) (25 years ago, 4-Jan-00, to lugnet.robotics)
| | | | | Re: Balancing Bots
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| Dave Johnson wrote in message <0FNS00E81AOHFT@mta1...bi.net>... (...) Nice!! Sounds like a special wheelchair Bob Fay showed me a URL for (which I don't have handy, unfortunatley...). It was a really clever chair. It could stand up on two wheels so (...) (25 years ago, 4-Jan-00, to lugnet.robotics)
| | | | | Re: Balancing Bots
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| Dave Johnson <djohnson@sirius.com> wrote: [...big snip...] (...) You can safely drive the same axle with more than one motor. Yes they are never identical but this won't cause you any problem. They simply will have a (slightly) different load, but (...) (25 years ago, 4-Jan-00, to lugnet.robotics)
| | | | | RE: Balancing Bots
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| Amazing!!! I was totally impressed with the biped robots. Does anyone know whether the LegOS code is available for this and whether more detailed building instructions exist? I teach engineering at George Mason University and think that this would (...) (25 years ago, 4-Jan-00, to lugnet.robotics)
| | | | | Re: Balancing Bots
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| (...) Take a look on (URL) Krister -- You have moved your mouse. Windows must be rebooted for the changes to take effect. (25 years ago, 4-Jan-00, to lugnet.robotics)
| | | | | Re: Balancing Bots
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| (...) It's an inverted pendulum - right? (...) I made such a project at university, but it didn't involve LEGO. I was working with a group and we tried different approaches. Our best solution was a Fuzzy-PD controller. The differential angle part is (...) (25 years ago, 4-Jan-00, to lugnet.robotics)
| | | | | Re: Balancing Bots
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| Not if you scale it up(alot).The higher the gear ratio, the higher the virtual accuracy. I hope I said that right, it sorta doesn't sound right.. If this is wrong the plaese correct me. Andy (...) (25 years ago, 6-Jan-00, to lugnet.robotics)
| | | | | Re: Balancing Bots
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| (...) Of course you are right, but there are some problems: It depends on the quality of the gearing. The problem here is backlash - it doesn't help much to have 1/10 deg. resolution if you have 5 deg. backlash in the gearing. Another problem is (...) (25 years ago, 6-Jan-00, to lugnet.robotics)
| | | | | RE: Balancing Bots
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| Jacob, Off-topic, I know, but .... I believe that the equations that you provided, although for a frictionless inverted pendulum, are nonlinear. You can linearize these equations about some reference point and convert them to state-space form, which (...) (25 years ago, 7-Jan-00, to lugnet.robotics)
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