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.
@@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.
Ooohhh! Great job 🥰👏🏼👏🏼👏🏼
This is the most impressive
Great work, keep it up :)
This is just awesome.
Love your work! Good job!
fantastic :)
Lets blend the tech into Electric Unicycles, its time!
I saw a cube but never seen one like this
Они идут)
Claptrap's great grandmother
Where can I buy one?
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.
Ютубпакажиробтановый
Claptrap betatest
This is an inspiration fot a project ive been brewing in the back of my head for a while now this is incredible
bad design, noone would design such a device, so it's a pointless project
cool bot! well done!
Very impressive, thanks for sharing.
i dont see any jump lol
Very impressive! Good job!
Nice idea, well done 👍
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.