Це відео не доступне.
Перепрошуємо.
Balancing on Inline Wheels with Gyroscopes
Вставка
- Опубліковано 9 тра 2021
- Head over to bit.ly/james-br... to start your collection and don't forget to use my unique promo code 'BRUTON' to receive your exclusive T-Shirt!
This is part 2 of my Control Moment Gyroscope (CMG) balancing experimentation. I've built many robots that use solid state gyros and accelerometers to make them balance - mainly two wheel balancing robot and ball balancing robots. But how can we use physical spinning gyroscopes to stabilise or make robots balance? I've built a Control Moment Gyro which uses a solid state IMU to measure the angle of roll of the whole device, and then tilts a physical spinning gyro powered by a brushless motor, so cause a perpendicular force.
Last week's video about V1 of this project: • How this Active Gyrosc...
CAD and code: github.com/XRo...
More about Control Moment Gyros: en.wikipedia.o...
Thanks to ROBOTIS for the Dynamixel servo: Check out: www.dynamixel.com/
This servo is: www.robotis.us...
You can support me on Patreon or buy my Merchandise:
***************************
Patreon: / xrobots
Merchandise: teespring.com/...
***************************
Affiliate links - I will get some money of you use them to sign up or buy something:
***************************
Matterhackers 3D printing supplies: www.matterhacke...?aff=7500
Music for your UA-cam videos: share.epidemics...
***************************
Other socials:
***************************
Instagram: / xrobotsuk
Facebook: / xrobotsuk
Twitter: / xrobotsuk
***************************
CAD and Code for my projects: github.com/XRo...
Huge thanks to my Patrons, without whom my standard of living would drastically decline. Like, inside out-Farm Foods bag decline. Plus a very special shoutout to Lulzbot, Inc who keep me in LulzBot 3D printers and support me via Patreon.
HARDWARE/SOFTWARE
Below you can also find a lot of the typical tools, equipment and supplies used in my projects:
Filament from: www.3dfuel.com/
Lulzbot 3D Printers: bit.ly/2Sj6nil
Lincoln Electric Welder: bit.ly/2Rqhqos
CNC Router: bit.ly/2QdsNjt
Ryobi Tools: bit.ly/2RhArcD
Axminster Micro Lathe: bit.ly/2Sj6eeN
3D Printer Filament: bit.ly/2PdcdUu
Soldering Iron: bit.ly/2DrNWDR
Vectric CNC Software: bit.ly/2zxpZqv
Why not join my community, who are mostly made up of actual geniuses. There’s a Facebook group and everything: / 287089964833488
XROBOTS
Former toy designer, current UA-cam maker and general robotics, electrical and mechanical engineer, I’m a fan of doing it yourself and innovation by trial and error. My channel is where I share some of my useful and not-so-useful inventions, designs and maker advice. Iron Man is my go-to cosplay, and 3D printing can solve most issues - broken bolts, missing parts, world hunger, you name it.
XRobots is the community around my content where you can get in touch, share tips and advice, and more build FAQs, schematics and designs are also available.
Please remember to check out last week's video for more info. Patrons and UA-cam Channel Members have next week's video already!
hi
How are you so fast with CAD
Please can you do a full tutorial on a basic ROS robot. Without the hardware creation but setting up the arduino, setting up the Raspberry Pi loading ROS and doing that jazz. It'll really help people like me out, I am very confused. Thanks for everything else though1
Is there any way for poor ppl, who cannot 3D print, to get the printed elements for this from your shop or something ? =O
@@srtghfnbfg there are plenty of 3d print on-demand services
I don't understand how you are able to release this kind of content so often. I can only imagine it would take me months to do just one of your projects. Awesome video as always!
It's mostly because he's been doing it for many years new, even longer than he's been doing UA-cam and that's 13 years in and of itself.
And he seems to get everything for free.
Your work is straight up addictive to anyone with an interest in physics, robotics, and coding. I'm legitimately thinking about reading up on PID controllers, because imagining the FIR/IIR (I think these are appropriate) diagram of literally rerouting the output of the gyros to the set point is just satisfying, regardless of the hackyness. I remember having a terrible time trying to develop a balancing robot with my childhood NXT, and this would have been just the encouragement for me to go more advanced.
If you know maths up to derivatives and integrals, the PID controllers aren't that complicated.
I play Factorio, and hacked a PID controller out of combinators to manage my laser turret power...
I could be sleeping, but this is more important
same
me_irl
Me too
R/me-irl
U have no idea
ball bearings for weight, interesting. spin that puppy fast enough and you got a claymore.
also, if you put a picture of an eye on that gyro, its slow back and forth oscillation would look like an eye looking around the room.
Hello there
Hay
Didn't expect you here
Oh half life 2 guy here hey!
So in order to get the gyroscopes up to speed I've installed several dozen ball bearings in these plastic discs and I'm going to spin them at several thousand rpm to initiate a grenade boosted backhop off of this ramp here-
LOVING the idea of a one wheeled robot James - holy grail stuff right there.
I can see Colin Furze making a motorbike with this in it so he doesn’t need to put his feet down when he stops. How cool would that be?
Gyros should be placed to spin in the horizontal direction, though to make turning possible at all..
I immediately thought about a TRON-themed bike.
BMW have done it
Or a pedal-operated bicycle.
thanks for visualizing control-systems in an easy to understand ways. Helps a lot to see physical applications instead of the lifeless block diagrams they hand you at university.
I’m imagining a huge transport droid that can carry shipping containers on two wheels at either end
Hmm. When they're not moving a container, do they become unicycle bots?
This was amazing! I was astounded to learn about the wave dampening gyros on boats you mentioned in Part 1, and this is even cooler to really see an application of gyro balancing. Great content!
This man needs to do fusion 360 tutorials
Some of his earlier videos are more like that. I got into learning it through watching them. I recommend any of Brad's "how would I build that" tutorials on the official site. He is a brilliant teacher.
Great videos, love the fact that you publish all the code and files for free. Helps spread the ideas for other to try themselves
Finally a use for a hubless bike wheel, That's where you put your gyroscopic flywheels.
Regenerative braking is an efficient because the electricity has nowhere to go, the batteries can only take so much.
You only need the gyroscopes going when the bike is stopped.
Dump your regenerative braking into the gyroscopes.
That also means you can get a boost from a dead stop without hammering your batteries.
Store a little in the flywheels at all times, and you could have a boost button. The right computer logic you might even be able to get it to do some crazy cornering.
Actually, regenerative braking is inefficient because with bikes, most energy is lost on air drag and friction/roll resistance anyway.
The real robot here is James.
He never smiles or laughs or makes jokes and it took me way too long to realise this.
Maybe he wants to learn to replicate himself 🤷🏻♂️
Jesus christ that fanhome thing.
"Only 99 cents for the first stage and 5 bucks for the next 3 stages, 9.99 per stage afterwards"
Ok cool how many stages are there
"100"
Alright cool so this whole thing is only £975 in total instead of £999.
thanks for the 2.5% discount guys, you're completely insane.
And you have to wait almost two years until you have all the parts to complete the model.
I can see that most people are unable to spend 1000 bucks on a model, no matter how detailed and well made it is and that spreading that out to 100 payments will make it affordable. I for myself would never subscribe to such a thing. The waiting time would kill my motiviation and I would always fear that the company might go out of business before I have gotten all the parts.
Yeah, it's a classic sham. These things were popular in 1980s and even before then, they just brought it back. The end product is never as good as advertised as they don't have to worry about quality - most people will never get to the last stage as they get tired waiting and realize how much money they were drained of, and those who do last already spent their money so there's no point for them to regret their investment as it won't change anything.
140 more like
@@tripwire76 I once had a subscription like this from a different company. I got half-way through the build and then received a faulty part. Got a replacement, which was faulty as well. Sent that one back again and then they were out of stock.
@@tripwire76 I mean yeah it's basically a scam.
They're trying to get people hooked on the subscription because the longer you have been subscribed the more you "lose" on not completing the thing all the way.
The only real expensive they have is tooling cost (all the injection molds, pretty pricy) and the licensing fees.
They are offloading one of the most expensive steps in something like this, the assembly, to the customer.
I'd bet the first 50 stages you receive are pure injection molded landfill junk.
Actually, thinking about it, the entire thing is landfill junk.
Pretty disappointed that James is promoting deceptive stuff like this, the website is deliberately vague on the amount of stages and total cost, and people do fall for stuff like this.
It's beyond me why you're Chanel isn't much larger, your work is on point
Thanks, it's getting there!
@@jamesbruton wow a reply from the master thank you so much
@@jamesbruton any chance you would want to sponsor a robotics team? Thought it was worth the asking
you're a wizard. every video is a treat
Omg James you touched so many important Control Systems topics with this robot!!! This is really amazing!!! I wanted to suggest the 1 wheel Balancing Robot, that would be out of this world! Looking forward to do a pull on your git repository for this!!!
On a total unrelated topic- the background music is awesome. Such a balanced bass
Great video!!!
Thank you!!
Most informative James thank you from New Zealand.
I am utterly in love with the quality of your 3D prints! I'd love to pick my way through your slicer profile!
Man ive had a lil thought bubble for a gyroscopic motorcycle and this is a large step in that vision, well done
bravo. one youtuber that builds things that can actually 1. work ..2 have sense as a product in real life
James Bruton, you should become the next Bruce Yeany. You already have almost all the projects. I had the idea from your introduction/summary of past projects in this series. You can make physics labs that incorporate real world physics into computer programming. Making these hands on, easy to see whats happening labs will be a good way to systematically revamp STEM (more input from more artful people than myself would be needed to turn it into STEAM). Think about this, I don't know if you wanna create a whole curriculum, but at least a standardized set of instructions with key learning points, fun build projects, and lab experience training would be really appreciated.
From my lab experience in high school and college, they can and have helped. But in mechanical engineering, the most programming we do in lab is excel, which isn't much fun. (there's MATLAB but thats not till way later). I think you have a great opportunity to incorporate computer science with physics classes.
Great videos, this is truly good content!!
3:13 spooling up the old 20MB hard drive.
If you have a single gyro in the center that can rotate 360 you wouldn't have to worry about it reaching the endstop.
A one wheel balancing robot, Claptrap from borderlands would be awesome to make.
But once this gyro is rotated perpendicular to the robot it doesn't have any control authority anymore, so effectively there's still an endstop
I always watch you James and immediately think, "why"? No offense, it is just my brain not being able to accept that these things need to be made.
Yet, I quickly click on the video(s), sit back and just go WOW! You really address challenges that I will bet .001% of the hobbyists in this world will ever think of. Thank you for that! The simplicity in how you describe these what I perceive "way over the top" projects makes me feel like I too could make this balancing gyroscopic feat! Alas, I am humbled by the fact I can't code and Arduino are still something I need to dive in to.
If I had the backend knowledge of the programming these projects wouldn't seem so daunting. Cheers to you!
i truly admire your knowledge and experience in so many science branches
Moving the battery to the top will make this more stable if anyone is trying to do their own version with smaller gyros and less powerful motors. This one is obviously very cool the way it is.
Nice socks. Awesome robot!
Really cool. One minor mistake I noticed is that you put the battery at the bottom to lower the center of gravity. Having a low center of gravity is only helpful for something statically balanced.
I'm not sure I understand how you did it, but I'm happy that your solution (have the bot oscillate around true balance) was the solution I had in mind. The (approximate) way to implement it I was thinking of was "if you're constantly having to move one direction, just overdo it for a bit, then go back to normal".
I LOVE YOUR BRAIN! Please make a "Learn robotics" channel! (Even if you post only 4 episode per year!)
I like this new format...
LOVE all the Ads in this one
It would be cool to build a system like this with a drive wheel in back and the gyros over the front wheel, using leaning to turn.
Put that mechanism in a big wheel it would look so good
What you aren't including in your control scheme is the movement profile of the gyro motors. Speeding up and slowing down those motors in combination with managing the gyroscopic procession should let you move forward and backwards. Slightly angling the wheel mounts would let side tilt cause a turning radius. It would be interesting to see how much stable control you could manage. I remember following along with an online class called "Underactuated Robotics", and this machine makes me think of that
I'd like to see you build this robot with one driven wheel and a steering wheel, you could then make it effectively a remote control bike but that stays upright when stationary. Cool project. 👍👏👏👏👏
If you built it so that gyro wheels could rotate continuously (such as using a slipring to get power to the gyros) you could even allow it to hold position at 45° angles indefinitely.
My tuesday must watch.
For projects like these, you'd probably save money and get better results if you bought a bunch of lead shot, filled a void in the print then put enough in that when you close the print, the clamping force holds everything together (like mechanically stabilized dirt if you've seen that video).
This is a really good design.
Beautiful idea
Bonus fact: A lot of the science behind this is basically how they control, rotate, and adjust the orbit of the International Space Station.
Great design 👍
Looking forward to seeing the progress 😃
Thanks for sharing your experience with all of us 👍😀
One wheel robot sounds awesome!
In line with the roll-amplifying gyroscopic boat correction, I have an idea on how one could make rollerblading very difficult...
www.seakeeper.com/
Great work, I do love a balancing robot, No 3D printers when I made Earwig .
Amazing video !
This could be a pretty wild set of roller blades
Brilliant. There's also a motorcycle that stays upright using gyros when you get off.
I like using my kickstand for that.
@@adyyvhbgcfbjjggghbbcgg I just keep riding.
idk how this would go, but what if you used metal fill filament for the gyros, if would be hella expensive, but would be a cool experiment.
It's such a simple concept, but it looks totally physics-defying.
Instead of a observing controller, you might consider to increase the spin speed when off-balance and revert it to normal when in center.
You could add a thrid gyro on top that adds force in either direction, making all moving parts gyros
It would be very cool to build a miniaturized version of this into the head of a fancy cane, so that when activated the cane would stand up where you left it, balancing. I don't know what practical purpose it would serve, but it would be a neat "magic" trick!
It doesn't have to serve a practical purpose, but an undroppable cane would actually be really useful for the elderly. You can let go of the thing without it clattering to the floor immediately as long as it's close to upright, I can see that being worth a couple hundred bucks.
@@Teth47 Actually if twisting a spinning gyro around an axis perpendicular to the spin axis gives you a force perpendicular to the plane described by the spinning and twisting axes, with a slipring to power the gyro's primary spinning axis, you could make it so that the twisting axis could twist continuously, which, with a sufficiently heavy gyro weight and/or high enough spinning speed, would allow the cane to stand up from even completely upside down.
Whether or not you could fit that into a cane, idk :P
I have to say that is pretty good!
You need to build a lathe and a balancer to make sure everything is round and balanced for high speed parts. This is so cool!!!
Have you done any testing where the center of the gyroscope had a spoked design. You would be decreasing mass, but also increasing its moment of inertia such that it should be able to counteract the change in mass.
Love the work your doing!! Can’t wait to see more.
Big fan James Bruton ❤️
I love your all projects
They are very helpful ☺️
Sir, your cable management is supreme. Just wanted to point it out.
Superb explain
This was in my mind but nice to see some practically nice
This is like the Brennan Monorail
Only Louis Brennan did it full scale 120 years ago but without 3D printers or Arduino computers to stabilise it and carried 40 people at a time on his gyro stabilised 22-ton prototype.
You should record the pid output and make a rolling graph alongside your video recording. I'm especially interested in seeing it relax while the thing is rolling, and spiking when pushed.
I do both gyros and servos. Great job by the way. You do realise that you could also use a flywheel...which could double as a kinetic battery source.
An idea for you is to motorize it and then while its moving, you can minimize how much power is being used by the Gyro and redirect that power to the forward moving motors. Whats your thoughts on this?
Looking forward to The Unicycling Robot.
If you put quad skate bushings on it you can get it to turn by leaning
Hmm, How about putting a sail on it, and add steering.
Being able to balance while the wind is pushing it would be the ultimate challenge for the design I think. And you get something you can drive around.
Can you turn this into a human suit please? I tip over a lot. kthnx
And if you can get it to read a satnav, it'll get you home when you've had a few.
@@glennleader8880 wow, big brain time! ill take 2 (cuz ill probably lose the first one)
A bike that you can charge while riding so you can park it like that when neded?
Thanks to upright walking, humans have to deal with something called clumsiness.
@@ikkePunky doesn't that exist already?
Amazing James! I had a lot of concerns about that and you help me to clarify many of them. I have a project/dream to create a real size electric bike using this principle to keep it always up, without physic stands. This video will can help me. Thanks bro!
Staying upright when driving a fast corner would be awesome.
This is so cool.
As always your robots are really beautiful. I would appreciate it if you could please make more in depth videos that cover programming in the context of robotics and explain more of the designing process on Fusion 360 or in general. Thanks for sharing your work!
With the automatic set point adjustment, can you now remove the weights taped to one side and have it automatically find the balance point (which might not be perfectly vertical)?
please build one with high center of mass since it will act like a reverse pendulum and will take more time to fall over, thus giving more time for the balancing gyros to correct.
i think it could be more stable for the same reason balancing a broomstick on its end is easier than balancing it on the middle.
Fantastic.
Similar to monorail train built back in 1920 (Swiss inventer).
Wow, that is working really well. Yes, it would be amazing to see a one-wheeled version working.
Sorry, noob questions here: What happens if each gyro would run at different rpm? Could that possibly used to control the yaw?
on the international space station... when the CMGs get to the point where they can't exert force any more, we call that "Saturation". There is some automatic communication to the russian thrusters to do a "de-saturation" which can get the CMG axes back where they have control authority again.
CMGs? Or reaction wheels? Does a CMG actually have a saturation limit except for how much force it can apply? Like sure if you just rotate it continuously you'd be able to apply a continuous force, up to the point where the motor rotating the gyro around an axis perpendicular to the primary weight-spinning axis hits its maximum speed. Even at that point, you'd still be applying a force, just not enough for whatever is requested, presumably.
@@clonkex yes, CMG and you are right, at some point you lose a degree of freedom. You can read more about them here: en.wikipedia.org/wiki/Control_moment_gyroscope#International_Space_Station
Yes... go for the onewheeler! Have it distribute drinks at a pary...
James has learned the next skill he needs on his path towards making a robot dog; Randomly striking it while it's trying to stand still.
That stabilization would really add something to robo dog!
If we add a kinetic steering system (use the giros to tilt and let the kinetic steering rotate the wheels) and motorize it could become a nice little remote controlled motorcycle
Super cool.
Please do reaction wheel balancing stick, that would be very interesting of this series and makes this balancing series complete...
That's very cool.
Awesome!
I see you do robots, you are very good at it. This mechanism could be useful to encourage people onto stable electric motorcycles or whatever we call them in the future. They would stay balanced while stopped and the inertia of the balancing wheel could be use to propel the cycle forward.
_hits the robot_
I see youre using the patented Boston Dynamics way of testing robots :P
It's been said before, but:
Bruton Dynamics
This is awesome! I'd love to see it motorized and also have the front wheel turn so you can drive it around.
Would the wheel need to turn? You could turn by doing the lean? ( Not a very tight turn )
@@noloafingwgas when you lean, you can counter turn to turn more aggressively, just like a motorcyle
by adding one more servo to perpendicular to length of base you can drive it in forward/backward.
Nice video 💙🤔👏
Hey! Enjoying all these videos for sure, but this one inspired for me an idea, and for you a challenge: Build those gyros into the wheels on clutches, so that they drive the vehicle when engaged, and when it comes to a stop it remains upright.
Obviously my brain jumped ahead to the 2 wheel car at this point, but you might want to perfect the concept before contacting Tesla! 😁
I was just wondering about something like this yesterday- I was thinking about making a self balancing bicycle. Judging by the size and weight of those gyros it would be quite large to be able to balance a bicycle.
Learn to ride one
"LIT" motors had a car called the "C1".
This was a self balancing car that they spent years of research on.
It used a CMG that seemed to work well.
I'm don't know why they don't licence their CMG technology to other companies.
really interesting video dude, thank you