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By: Tom Bottiglieri
New: 19-04-2006 22:37
Updated: 19-04-2006 22:41
Views: 1979 times
This robot was part of the "Star Wars: Where Science Meets Imagination" exhibit at the Boston Museum Of Science.
There was all these cool Star Wars displays, (a bunch of them on robots, including fully programmable R2-D2s, ala Mindstorm RCX) and smack in the middle was this. I spent 20 minutes playing with it.
I wanted to be the first (that I knew of) to make a balancing Vex bot, but I guess I got beat to the punch.
So, how many components do you recognize on this bot from their frequent "CD-age"?
I see 3. 
Discussion
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19-04-2006 23:15
Greg Needel
Re: pic: Vex 2 Wheel Balancing Robot
well remember this thread.... http://www.chiefdelphi.com/forums/sh...ad.php?t=40920
now i don't need to post pictures of what i was working on because tom already did it. 
20-04-2006 10:43
billbo911
Re: pic: Vex 2 Wheel Balancing Robot
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Originally Posted by Greg Needel
Well, remember this thread....http://www.chiefdelphi.com/forums/sh...ad.php?t=40920?
Now I don't need to post pictures of what I was working on because Tom already did it. |
From the picture I would say that you are using several non-standard Vex components. I can see the motor is not standard, the motor controller looks custom. I can see what looks like 4 analog inputs from sensors of some sort and one interrupt input from what I am guessing is a digital encoder.
Care to elaborate on how you achieved this?
WE NEED DETAILS!!!!!!!!
20-04-2006 10:52
Tom Bottiglieri
Re: pic: Vex 2 Wheel Balancing Robot
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Originally Posted by billbo911
Greg, first off, that's awesome. I would love to see some video of it in action, hint hint.
From the picture I would say that you are using several non-standard Vex components. I can see the motor is not standard, the motor controller looks custom. I can see what looks like 4 analog inputs from sensors of some sort and one interrupt input from what I am guessing is a digital encoder. Care to elaborate on how you achieved this? WE NEED DETAILS!!!!!!!! |
), gyro, and encoder. I remember seeing the control algorithm for this kind of bot on some site. It needed 4 inputs.. Angular position (found initially with accelerometer and force of gravity, then ntegrated from gyro), angular rate of change (reading from the gyro), linear position (encoders), and linear rate (derivative of position).
The stuff on top of the Vex controller was for a buzzer, and driving a backlit switch. There was a small servo amplifier on the other side.
20-04-2006 11:00
billbo911
Re: pic: Vex 2 Wheel Balancing Robot
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Originally Posted by Tom Bottiglieri
It looks like the guts of the balancing comes from the accelerometer (from the 2005 KOP
), gyro, and encoder. I remember seeing the control algorithm for this kind of bot on some site. It needed 4 inputs.. Angular position (found initially with accelerometer and force of gravity, then double integrated from gyro), angular rate of change (integrated from the angular acceleration reading from the gyro), linear position (encoders), and linear rate (derivative of position). The stuff on top of the Vex controller was for a buzzer, and driving a backlit switch. There was a small servo amplifier on the other side. |
(Now, if we can just see the code
)
20-04-2006 11:31
Greg Needel
Re: pic: Vex 2 Wheel Balancing Robot
well I asked if i could share the code but unfortunatly the answer was no. If you are interested in balancing code i would take a look here http://www.tlb.org/scooter.html
I have some other pictures that i can post later though.
20-04-2006 16:55
billbo911
Re: pic: Vex 2 Wheel Balancing Robot
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Originally Posted by Greg Needel
well I asked if i could share the code but unfortunatly the answer was no. If you are interested in balancing code i would take a look here http://www.tlb.org/scooter.html
I have some other pictures that i can post later though. |
More than that, thanks for the link. The information found there is really helpful and will go a long way in helping me do similar development!
Now, FEED us PICTURES!!!!!!! Please
20-04-2006 23:07
JakeGallagher
Re: pic: Vex 2 Wheel Balancing Robot
Hahah Tom I saw this before I left for boot camp. Not on subject, but weren't the other exhibits awesome? I got a picture of every one of them, and pictures of me with Han's clothes. Oh yeah, and a picture of me with one of the ForceFX sabers. That was a good day.
23-04-2006 16:13
intellec7
Re: pic: Vex 2 Wheel Balancing Robot
Can the two wheels spin independently? It looks like they are coupled.
23-04-2006 18:19
Greg Needel
Re: pic: Vex 2 Wheel Balancing Robot
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Originally Posted by intellec7
Can the two wheels spin independently? It looks like they are coupled.
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As for the pics i need to get them off my work computer. maybe tomorrow
25-04-2006 09:02
Greg Needel
Re: pic: Vex 2 Wheel Balancing Robot
you ask and you shall receive.
http://robotphotos.org/v/members/fir...avId=x73ef092f
also to give credit where credit is due. The original design used an IFI min controller and was build by Benge Ambrogi. That design was later changed to vex by Kristen Kelso. Then the final design was done by myself and another deka employee.
remember folks design is an iterative process.
25-04-2006 15:19
ahecht
Re: pic: Vex 2 Wheel Balancing Robot
I got a chance to play with this thing at Star Wars exhibit the last time I was in Boston. Very cool.
If you're in the area, I would encourage you all to check it out. I believe it ends on Sunday.
Now all someone has to do is make one that works with the VEX motors. Heck, even doing it with the more powerful robovation motors would be a challenge.
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