As someone who is only just starting with robotics I think this is an 10/10 video. Everything is explained clearly and with a lot of detail, the robot looks sick, and everything is open source. I honestly think YT needs more videos like this one.
Excellent well thought out and executed project utilizing multiple scientific disciplines as well as software development to facilitate the mechanical and electrical needs. Well done Sir !!! Maybe this is the next multi-million dollar science toy / teaching tool for engineering, physics, and software disciplines.
I really enjoyed this and could see the huge amount of work that went into it. I ran away with the idea though that you were going to have the ball returning to centre, but it doesn't look as though you would find that difficult to achieve. Thanks for the entertainment and learning.
I'm definitely curious to see where this project goes. I hope you keep keeping the technical bits in, even if it doesn't always flow with the algorithm.
amazing video!!! well done in my control class (which is years ago) I remember something about using the Fourier transform to fine tune Kp, Kd, and Ki, would be cool if you include that in the next video, would be cool even without, thank you!
Ive seen many of these videos but the impressive part is how clean and compact it is.Just a few pointers: •You could use a much powerful overhead camera. •Ball joints are producing a little unrequited wobble for the plate. •The algorithm to reject noise could pose a problem during bouncing the ball as it needs to determine the size of the ball. Overall this is a great project considering how well you explained it.👍🏻
These kinds of robotics projects are way more interesting to me than the usual attempts to make something more humanoid, as fun as those can be, because the potential applications are so much more broad. For example, the principles and formulas you used here are also used to adjust solar and mirror arrays as the sun moves across the sky.
You need to adjust the vertical position of the ball by knowing the difference in its size. 60 FPS seems more than what is needed. This way, you can determine the vertical speed and also control the overshoot.
Great video! I hope you get deeper in the weeds, maybe with IK motion interpolation, and predictive PDI control loops, In future videos. It looks on visual inspection, like the platform can't move fast enough to bounce the ball, so to my eyes it's an impedance problem.
Very well done! But, I can't resist. "Fix the motor to the base and attach the link to the motor." Interlinked! "The motor can now transmit power to the link." Interlinked! "Place the bearing at the end of the link and attach another link." Interlinked! Interlinked! Within cells interlinked! Within cells interlinked! Within cells interlinked! :)
Ping Pong 🏓 would be a great idea…Then make two and have em play each other with the ability to improve accuracy. (automatically maybe) Great video. BTW 😁
Super cool! I wonder how much more difficult this task would be if a second ball was introduced. I'm guessing it would be exponentially more difficult. Just guessing.
was looking to build a test or control environment with a balance or camera case based on the magnetic levitation action, or a magnetic testing device to calibrate or measure the necessary placement of magnets within a case or mount to have a more reliable gimbals or drone like camera for mountain hiking, rock climbing.but my question becomes how to build something like this more for magnetic or motion detection to weight and consistently understand the more reasonable positioning of magnets within the case; contacting to understand software demands, establishing what sensors or device architecture would make a realistic controlled environment. im not sure there's software similar to what you've used in your project, but i love your work and would challenge you take your applied sciences toward the world of magnets and make a completely better selfie stick, no hands required!
It's really cool. I was wondering if you'd be kind enough to pls share how you formulated the inverse kinematics. Perhaps as a document, in the description?
Excellent work! Thanks for sharing! I'm using the same servos(RS304MD) for one of my projects. I wonder for multiple servo control, did you use the "TB-RV71EH" and the "TB-22PP Hub" as shown in the RS304MD Instruction Manual for this robot? I didn't seem to see them in this video though.
To bounce the ball wouldn't you need to code it in a way that identifies the changes in the pink ball size (moving closer or farther) and maybe put some marks on the glass platform to have the camera also identify the location and the altitude of that?
You can estimate height by the size of the image of the ball. Calibrating images of the ball on the platform at known heights could even give you a lookup table of size::height estimates as a baseline.
@@wilkstube I assumed it was something like. With a known default position of the platform, and assuming the object is a ball, it's diameter can be calculated based on the image. I know he's good for the math on that one, after the inverse kinematics lol.
Great video. I’ve seen many RUclips channels complete this project and gloss over the inverse Kinematics. A full video working through this derivation would be extremely helpful. How does the control algorithm work if it’s over constrained with 3 actuators instead of just 2?
I like this, i would like a video how to connect OV7670 wires... Friend and i got stuck trying to connect robot eyes to follow fingers and ball. Fantastic experience and effort.
Fluids are tricky and watching the cup from below doesn't help much. The car suspension and acceleration/turning are doing the spilling, so instead using a gyro/accelerometer would be the way to go. But don't drive too fast, or your calculations might need to predict the future...
@@Koshiro_Robot_Creator All it would take - if I'm thinking about this right - is longer arms and a quick update to the arm length in the kinematics of the Brains.
It would be interesting to have another robot pick up the fallen ball back on the plate and then do million bouncing tries to train an AI that could bounce the ball even with the "low" framerate
if the camera detects when to move the platform based on how small it looks ( this is to bounce it) I assume u did it like that then would it be that the height change isn't big enough to accurately detect when to bounce the ball you would need an extra camera to detect distance well enough
Stopping bounces should be started by tracking the target height (and therefore the target size): starting from what (smaller than the size "on the surface") should one start reacting to its presence in the field of "vision" (pull the surface up as much as possible), and then track the rate of size increase (approach speed). When the target enters the "probable touch" zone (one should calibrate for the size of the target lying on the "surface" pushed up as much as possible), interpolating the progression of size increase between frames - begin the "bounce-damping surface fall" maneuver, proportional to the calculated target approach speed. One will probably have to calibrate for the target's "jumpiness" as well, to determine the effective number of target touches, before the bounces stop, relative to the maximum possible surface "fall" speed. Also, to more accurately determine the target size, one will have to use a camera with a higher resolution, which will load the graphic function... in the near future it is possible - to use shadowed side of target, for specifically orient the target on the "surface".
Hi, are you based in Japan? I'm a software engineer very intrigued by AI, i want to know if there are communities or labs dedicated there...thx for your work btw, superb.
![BLACK BAG - Official Trailer [HD] - Only in Theaters March 14](http://i.ytimg.com/vi/Du0Xp8WX_7I/mqdefault.jpg)
As someone who is only just starting with robotics I think this is an 10/10 video. Everything is explained clearly and with a lot of detail, the robot looks sick, and everything is open source. I honestly think YT needs more videos like this one.
Amaizing video, this is the project she tells me not to worry about.
nerdd
1:48 very nice cup ;-)
Best explanation of PID control I have ever seen in 18 years !!
It's just so nice when RUclips does recommend something great in the feed.
This vid gonna blow up someday for sure... Subbed! Brilliant video
Thank you!
it kinda is blowing up
Great video, excellent explanation of PID control. Beautiful design too.
Excellent well thought out and executed project utilizing multiple scientific disciplines as well as software development to facilitate the mechanical and electrical needs. Well done Sir !!!
Maybe this is the next multi-million dollar science toy / teaching tool for engineering, physics, and software disciplines.
I really enjoyed this and could see the huge amount of work that went into it. I ran away with the idea though that you were going to have the ball returning to centre, but it doesn't look as though you would find that difficult to achieve. Thanks for the entertainment and learning.
Thank you!
right. very detailed and thought out. then "guess" the pid 😅😊😂
7:44 nice explanation of PID controller 🙌
The build quality is amazinggg!!!
You explained this in a very easy to digest manner.
Incredible project, with a high technical level. Congratulations on your work, Greetings from Spain
Awesome work my friend👍👏
Thank you for sharing🌟
Cheers 🕊️
I'm definitely curious to see where this project goes. I hope you keep keeping the technical bits in, even if it doesn't always flow with the algorithm.
Very interesting and simple explanation with all the elements needed. Loved it and subscribed!
Just the fact that you're using Blender in Japanese is pretty badass and deserves a sub 🤣👌🏻 Not to mention the great content 👏🏻
Thank you for sharing this project, this is one of the best videos showing a balancing robot. I subscribed to you man, keep up the good work.
Bro just open my eyes on PID control
amazing video!!! well done
in my control class (which is years ago) I remember something about using the Fourier transform to fine tune Kp, Kd, and Ki, would be cool if you include that in the next video, would be cool even without, thank you!
Amazing work! Maybe a global shutter camera would be better for the bouncing ball test.
Awesome build
Very nice presentation, I discovered you today and I have subcribed to your channel. Well done! Thanks for sharing!
Very nice project!
I like the usage of a camera lo track the ball, and having it underneath for a compact design.
Ive seen many of these videos but the impressive part is how clean and compact it is.Just a few pointers:
•You could use a much powerful overhead camera.
•Ball joints are producing a little unrequited wobble for the plate.
•The algorithm to reject noise could pose a problem during bouncing the ball as it needs to determine the size of the ball.
Overall this is a great project considering how well you explained it.👍🏻
The issues of this robot are accurately pointed out. Thank you!
cool as heck. the design of the robot is also very well aesthetically pleasing; the math is made simple thanks to the explanations. good job. sub'ed
a great explanation on a PID controller
Nice work ! Very well explained
Amazing work!
This ball balancing robot will control the world one day with it's magic.
You can get FPS up to 120fps by playing with resolutions. Make sure 4 lane is enabled for faster transfer.
Cool video and project!
These kinds of robotics projects are way more interesting to me than the usual attempts to make something more humanoid, as fun as those can be, because the potential applications are so much more broad. For example, the principles and formulas you used here are also used to adjust solar and mirror arrays as the sun moves across the sky.
That's an interesting perspective!
thumbnails: "never falls"
1st 10 seconds: falls
Really great work!
Great work! Good way of learning PID indeed.
Nice video, really cool.
Very difficult task, very impressive project and solution.
A great project, thanks for sharing.
Very cool, if you ever do it again, make it a Robotern holding a ping pong Paddel. That could develop into a full blown ping pong robot
That sounds like an interesting project.
Excellent project and hope you keep them coming! Subbed for the inspiration
awesome!! such a channel is exactly what I was looking for 🤩
3D printet Robots for tinkerers 😁
You need to adjust the vertical position of the ball by knowing the difference in its size. 60 FPS seems more than what is needed. This way, you can determine the vertical speed and also control the overshoot.
nice project, you won a sub, i hope you'll do more :D
nice video, i'm a beginner in the world of robotics
Great video! I hope you get deeper in the weeds, maybe with IK motion interpolation, and predictive PDI control loops, In future videos.
It looks on visual inspection, like the platform can't move fast enough to bounce the ball, so to my eyes it's an impedance problem.
I appreciate the great advice! I'm really interested in those topics!
Great topic, thanks 👍
This was awesome man. New subscriber ✌🏻
Very well done! But, I can't resist. "Fix the motor to the base and attach the link to the motor." Interlinked! "The motor can now transmit power to the link." Interlinked! "Place the bearing at the end of the link and attach another link." Interlinked! Interlinked! Within cells interlinked! Within cells interlinked! Within cells interlinked! :)
Well played, maybe it could even run from 2049 blades
Great video, thank you for sharing
Oh, the robot butlers are close, I can feel it! LOL
それは素晴らしいのプロジェクトですよ。I am so impressive. I like it.
Ping Pong 🏓 would be a great idea…Then make two and have em play each other with the ability to improve accuracy. (automatically maybe) Great video. BTW 😁
Making the robots play ping pong against each other sounds interesting.
@@Koshiro_Robot_Creator …especially interesting if they could be taught how to improve themselves. One step at a time though.
Machine learning? @@wearemany73
Super cool! I wonder how much more difficult this task would be if a second ball was introduced. I'm guessing it would be exponentially more difficult. Just guessing.
was looking to build a test or control environment with a balance or camera case based on the magnetic levitation action, or a magnetic testing device to calibrate or measure the necessary placement of magnets within a case or mount to have a more reliable gimbals or drone like camera for mountain hiking, rock climbing.but my question becomes how to build something like this more for magnetic or motion detection to weight and consistently understand the more reasonable positioning of magnets within the case; contacting to understand software demands, establishing what sensors or device architecture would make a realistic controlled environment. im not sure there's software similar to what you've used in your project, but i love your work and would challenge you take your applied sciences toward the world of magnets and make a completely better selfie stick, no hands required!
It's really cool. I was wondering if you'd be kind enough to pls share how you formulated the inverse kinematics. Perhaps as a document, in the description?
Or a separate video. I would watch it, for sure! I was a bit sad that he just brushed it off as tedious and boring.
Let's make that video! Please wait a few days.
Mission accomplished! Great work!
Great stuff
jumping may be hard because of the camera position, it hard to determine height
Echo... nice video!
I’m curious to hear more about how you used the golden ratio in the design
The golden ratio is incorporated into the lengths of the links and the size ratio between the platform and the robot's base.
Just thinking the difficulty level if we try to balance two balls at the same time :)
BTW, great work. highly appreciated.
Excellent work! Thanks for sharing! I'm using the same servos(RS304MD) for one of my projects. I wonder for multiple servo control, did you use the "TB-RV71EH" and the "TB-22PP Hub" as shown in the RS304MD Instruction Manual for this robot? I didn't seem to see them in this video though.
Thank God, or rather, robotics. Now, all my life's problems can be solved by a ball balancing automaton.
It is terrific awesome
To bounce the ball wouldn't you need to code it in a way that identifies the changes in the pink ball size (moving closer or farther) and maybe put some marks on the glass platform to have the camera also identify the location and the altitude of that?
for doing the balancing you wouldn't need a second camera? that will lead to a more precise calculation of distance. Nice project!
Thanks for taking a look...I think using two cameras is a great way to go.
You can estimate height by the size of the image of the ball. Calibrating images of the ball on the platform at known heights could even give you a lookup table of size::height estimates as a baseline.
no you don t need 2 cameras, you need a wide angle cam only / ball radius. enough to bounce the ball
@@wilkstube I assumed it was something like. With a known default position of the platform, and assuming the object is a ball, it's diameter can be calculated based on the image. I know he's good for the math on that one, after the inverse kinematics lol.
This is awespmeee
Great video. I’ve seen many RUclips channels complete this project and gloss over the inverse Kinematics. A full video working through this derivation would be extremely helpful. How does the control algorithm work if it’s over constrained with 3 actuators instead of just 2?
I plan to make a video about that. Please wait a bit.
I love your work.
I like this, i would like a video how to connect OV7670 wires... Friend and i got stuck trying to connect robot eyes to follow fingers and ball. Fantastic experience and effort.
Derivations should deserve one video on this own right, think about it
At a glance you are using sight to know the position of the ball, I’d like it to use weight so it can be a never spill coffee cup holder for the car.
That sounds interesting.
Fluids are tricky and watching the cup from below doesn't help much. The car suspension and acceleration/turning are doing the spilling, so instead using a gyro/accelerometer would be the way to go. But don't drive too fast, or your calculations might need to predict the future...
Possibly a gyro suspension can do the job mechanically, with no robot or calculations needed. Good luck!
Awesome
Can you turn it upside down and make it balance on top of the ball?
This robot cannot do that. However, creating a project to make such a robot sounds interesting.
@@Koshiro_Robot_Creator All it would take - if I'm thinking about this right - is longer arms and a quick update to the arm length in the kinematics of the Brains.
I love that you're using Blender
Have you been following Harrison Low's juggling robot experiments?
www.youtube.com/@harrisonlow
Maybe you two could collaborate in future?
I just followed him. The movements of his robot are beautiful. It would be amazing if we could collaborate in the future.
@@Koshiro_Robot_Creator I sent him a link to you video. He does regular live streams and I am sure he would be very happy if you reached out.
Wow - I confidently predicted you would need to use fuzzy logic to control the platform but it seems I was wrong.
It would be interesting to have another robot pick up the fallen ball back on the plate and then do million bouncing tries to train an AI that could bounce the ball even with the "low" framerate
3D movement requires 3D/2.5D vision, like a camera from the side, to be accurate.
ball have fixed constant size, and camera is not telecntric, so you can track height by measuring pink circle size.
if the camera detects when to move the platform based on how small it looks ( this is to bounce it) I assume u did it like that then would it be that the height change isn't big enough to accurately detect when to bounce the ball you would need an extra camera to detect distance well enough
Really cool! Could it absorb the bounce prior to balancing?
Why does the narration sound like AI text-to-voice?
Because you don't know how it sounds
I think it is since the creator is Japanese and the narrators english is way too fluent(not saying it isn’t possible)
@@beekdorrr Ah I see! Didn't realize the creator was japanese, thanks!
Because it is.....
My friend uses AI to get rid of his thick Polish accent.. It works great. It's still the persons voice sans "dialectical imperfections"
Awesome Project. Are you gonna release complete plans and STL's for it?
Thanks for watching! You can download it here.
github.com/KoshiroRobot/Ball-Balancing-Robot
Hello, Is there a subsitute for the futaba motor. It is quite expensive. Thank you
I wonder how you can resolve the delay of camera and fix it into the code. :D
nice
Why i am seeing PID in all electronic projects this is insane.
Sir what filament material did you used?
お願いしますが、どの音声AIを使ってナレーションしているか教えてください。とて何かはかっこよくて、声もいいですね
I thougth this video was very intereting
Thanks for watching.
No problem. I love this Kind of content. Keep on doing what you're doing.
Weird question but is this your voice or text-to-speech?
How is this relevant to the video ?
@@robotboy3525 I'm just asking a question
I am using voice generation from Filmora.
@@Koshiro_Robot_Creator Thanks, I was just asking as I was second-guessing myself, since it's very convincing!
use ping pong ball to slow dow ...your is hevy...TANKS FOR SHARE!
I am a computer science student currently in university. Can you please make a video on the mathematics of the project?
Importance of Mathematics explained!
Stopping bounces should be started by tracking the target height (and therefore the target size): starting from what (smaller than the size "on the surface") should one start reacting to its presence in the field of "vision" (pull the surface up as much as possible), and then track the rate of size increase (approach speed). When the target enters the "probable touch" zone (one should calibrate for the size of the target lying on the "surface" pushed up as much as possible), interpolating the progression of size increase between frames - begin the "bounce-damping surface fall" maneuver, proportional to the calculated target approach speed. One will probably have to calibrate for the target's "jumpiness" as well, to determine the effective number of target touches, before the bounces stop, relative to the maximum possible surface "fall" speed. Also, to more accurately determine the target size, one will have to use a camera with a higher resolution, which will load the graphic function... in the near future it is possible - to use shadowed side of target, for specifically orient the target on the "surface".
Amazing project.
How many hours did you spend on building this robot?
Thanks for watching! Maybe a month or so?
where are the servos getting power from?
Next step: use Reinforcement Learning to do these tasks! Perhaps you can solve the bouncing ball problem with it.
ball control and cameras, am I missing something in the description,
Hi, are you based in Japan? I'm a software engineer very intrigued by AI, i want to know if there are communities or labs dedicated there...thx for your work btw, superb.
I kinda wanna find light weight version of this , and mounted on my rc 75mm tinywhoop. If the price very cheap, and available in my country.
to me, this is a project illustrating cybernetics.
How about using ML to train the control - w/o explicit "math" - by learning from sucesses and failures?