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  • Novel robotic kinematics

    This reminds me a lot of the butler robot in Caprica. I wonder how long before Dyson vacuum cleaners use this to compete with the Roomba?

    http://www.designboom.com/weblog/cat...t-on-ball.html



    This seems to be the university's page for their robotics stuff:

    http://www.mech.tohoku-gakuin.ac.jp/rde/index_e.html

    Here's a google that turns up lots of coverage of this:

    http://www.google.com/search?q=tohok...ity+ball+robot

    If someone finds a page that explains the math and programming of the servo controls, please post! I'd also love to see more details about the construction.
    Dude, seriously, WHAT handkerchief?

    snooggums' density principal: "The more dense a population, the more dense a population."

    Iliana: "You're a great friend but if we're ever chased by zombies I'm tripping you."

  • #2
    Re: Novel robotic kinematics

    Ah, this IEEE blog entry has some nice details:

    http://spectrum.ieee.org/automaton/r...nces-on-a-ball

    Quoting inline to make it easier to read. Text beyond this point is from the article:

    The robot is about half meter high and weighs 7.5 kg. The ball is a 3.6-kg bowling ball with a 20 centimeter diameter and coated with rubber spray.

    Its ball driving mechanism uses three omnidirectional wheels developed at Japan's R&D institute RIKEN [see photo, right].

    To power the wheels, they chose NIDEC motors and micro-step controllers to achieve a rate of 0.225 degree per step, which made the rotation of the wheels smooth.

    The robot's control system runs on a 16-bit microcontroller, which receives data from two sets of Analog Devices gyroscopes and accelerometers.

    It's interesting that they had to use both gyros and accelerometers. The gyros can detect fast movements, or high-frequency components, but they're not suited when you want to derive the inclination of the robot. On the other hand, the accelerometers can detect the inclination but they're affected by the motion of the robot, so they couldn't be used alone.

    The control strategy is the same used for other inverted pendulum-type systems. The goal of the control system is to keep the inclination at zero degrees and keep the ball on the same spot. If you push the robot, it will try to balance itself and return to the original location.
    Dude, seriously, WHAT handkerchief?

    snooggums' density principal: "The more dense a population, the more dense a population."

    Iliana: "You're a great friend but if we're ever chased by zombies I'm tripping you."

    Comment


    • #3
      Re: Novel robotic kinematics

      Teaching a robot to flip pancakes.

      http://vimeo.com/13387420
      Dude, seriously, WHAT handkerchief?

      snooggums' density principal: "The more dense a population, the more dense a population."

      Iliana: "You're a great friend but if we're ever chased by zombies I'm tripping you."

      Comment

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