Scissored pair control moment gyroscope inverted pendulum
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- Опубліковано 6 жов 2024
- More details on the build • Scissored pair control...
Check our robot! • Gyrubot: biped walking...
Actually, check my "control" playlist, I made many fun contraptions • control
Check our robot! ua-cam.com/video/DRP71htn1MU/v-deo.html
Great work
Wonderful!
Круто! хочу что-то подобное поконструировать!
can you share more about your build? how fast are spinning the gyros? any pictures for you are controlling them? thanks!
Sure, i can share all the details. You can ask questions by mail: dmitry.sokolov@univ-lorraine.fr
O que mantém os discos em alta rotação? E como eles estão virando, são atuadores? Ou está virando sozinho?
Any momentum dumping in your control laws? Wondeting how the gyros tend back to that neutral state after load application
The system stays in the (unstable, but nonetheless) equilibrium point, therefore there is no excess momentum to dump.
No servos/feedback/sensors needed?
How difficult would it be to balance a road motorcycle with this contraption? E.g. to make an unmanned autonomous motorcycle.
pretty straightforward, need to balance in one plane only, a single scissored pair suffices ua-cam.com/video/Q58_AnkYGfo/v-deo.html
What would happen if you put it in a backpack? Would you fall?
Very quiet impressive what's the total mass can you make it stand on any of the verticies ?
all the data is available here: dx.doi.org/10.1109/ACCESS.2020.2968221
It can't balance on a vertex, for that it'd need a second scissored pair (like for the biped in the linked paper).
Rất lạ
My god, what is that high-frequency beep in the background?
sound's like an old CRT.
Edit: just measured with an app on my phone, it's somewhere around 13 kHz and it's definetely coming from the video
Probably the switching frequency of whatever motor drivers he's using. Sounds similar to a brushless motor running at less than full speed.
@@JMMC1005 there is that, and there are actual flywheels spinning at 3krpm on cheapest ABEC1 bearings. DIY at its finest :)
@@dmitrysokolov8305 That'd also do it I suppose!
is it using precision ?
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