- Видео 4
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A. René Geist
Добавлен 3 апр 2017
Wheelbot v1: First standup tests
Wheelbot v1 was the predecessor of Wheelbot v2.5: sites.google.com/view/wheelbot
Просмотров: 659
Видео
Wheelbot v1: First balancing controller
Просмотров 7612 года назад
Wheelbot v1 was the predecessor of Wheelbot v2.5: sites.google.com/view/wheelbot This video has not been sponsored by Procell AA Alkaline batteries, the number one solution for adding mass to your unicycle robots.
The Wheelbot: A jumping reaction wheel unicycle
Просмотров 58 тыс.2 года назад
Combining off-the-shelf components with 3D-printing, the Wheelbot is a symmetric reaction wheel unicycle that can jump onto its wheels from any initial position. With non-holonomic and under-actuated dynamics, as well as two coupled unstable degrees of freedom, the Wheelbot provides a challenging platform for nonlinear and data-driven control research. This work will be presented at IROS 2022 a...
Data Collection for Robust End-to-End Lateral Vehicle Control
Просмотров 3956 лет назад
Title: Data Collection For Robust End-to-End Lateral Vehicle Control A. René Geist, Andreas Hansen, Eugen Solowjow, Shun Yang, Edwin Kreuzer 2017 Dynamic Systems and Control Conference Abstract: This paper proposes a strategy for collecting image and steering data for training deep end-to-end control policies for robust lateral vehicle control. During the data collection phase, one camera is de...
bad design, noone would design such a device, so it's a pointless project
Claptrap betatest
This is the most impressive
This is just awesome.
i dont see any jump lol
Lets blend the tech into Electric Unicycles, its time!
Claptrap's great grandmother
Они идут)
This is an inspiration fot a project ive been brewing in the back of my head for a while now this is incredible
do you have a weight calculation formula? how heavy should a reaction wheel disk is to balance a certain weight of a single-wheel vehicle load?
Check out our paper on the Wheelbot. In there, you find some simple formulas on how to design the reaction wheel such that the robot can self-erect. Ideally the wheel is as light as possible while having as much inertia as necessary for self-erection and disturbance rejection.
Github link is @todo?
Where can I buy one?
Love your work! Good job!
Very impressive, thanks for sharing.
Very impressive! Good job!
cool bot! well done!
I saw a cube but never seen one like this
Ooohhh! Great job 🥰👏🏼👏🏼👏🏼
fantastic :)
I can't wait to see that on our wheels :D Keep on the good job, I hope you'll find some founders to help in your R&D and to propagate such an innovative way of transport in the cities! Keep on the good job, this is a must!
this but much smaller! sell it as a toy for 40$ and make a million. if sphere/orbotix/ollie can pull that off, so can this.
$40? The control board probably cost $150.
how turn to left or right this bot?
The reaction wheel (that's the upper wheel) can tilt the robot by a certain angle. If you want to keep the robot at this angle, the reaction wheel needs to accelerate such that the wheel would eventually reach its rate limit and the robot would topple. However, if the rolling wheel (that's the wheel touching the ground) starts to move the robot 'forward' , a tilted unicycle would start driving on a curve. At a given forward speed, you can find a tilt angle such that the reaction wheel does not need to accelerate to prevent toppling. You can observe a similar maneuver when watching a motorcycle driving through a curve. Here, the motorcyclist adjusts the tilt angle of the motorcycle depending on how fast she's driving through a curve. On the Wheelbot's project page you find a couple of simulation videos in which the Wheelbot drives small turns. We are currently working on this topic.
Maybe be able to build A better EUC than can help with balance.
@@AndReGeist What about if you had two reaction wheels mounted at an angle above on each side of the driving wheel? Wouldn’t you be able to accelerate them in different direction to instigate a turn easier? And also to turn around its axis standing still.
@@snabbgas1116 Absolutely! :) If you add a third wheel that is orthogonal to the other two wheels, then you can directly control all three rotational degrees of freedom. Yet, that the robot's "turning dynamics" can not directly be controlled actually becomes a feature if you want to study the "controllability" of under-actuated nonlinear systems or are looking for a simple yet quite challenging system to test your data-driven control algorithms on. In other words, we don't use a third wheel not because it is easy (from a mechanical design point of view) but because it is hard (from a control point of view).
@@dennisgolden7596 Lol Electric Uni Cycles were my first thought too. Maybe this tech could somehow be used to help stop cutouts from dumping the rider on their faces and butts lol.
Ютубпакажиробтановый
Great work, keep it up :)
👍 great progress!
Long disbalancing force caused right side fall at 01:15? Probably top wheel "hit" maximum rotation limit :( Bottom wheel should take emergency action.
Nice idea, well done 👍
All hail to our robot overlords.