auto stabilization

2 Articles

Making A Robotic Dog Better By Adding Springiness Without Springs

November 8, 2019 by 5 Comments

Getting a legged robot to stay upright, especially a quadruped or biped, can be a challenging undertaking. To experiment with different approaches, [James Bruton] built robot dog test platform and is playing with “dynamic compliant simulated springs“, or in other words, using the motors to act as though they were springs and dampers..

When robotic legs are kept stiff, they tend to reduce the stability of the platform due to the sudden erratic movements of the robot, especially on uneven surfaces. With a back drivable joint arrangement, [James] is using limited holding current on the motor, and the position of the motor shaft is monitored using an encoder. When a leg experiences a resisting force, with will have some “give” and then the motor will return it to it’s intended position more slowly. Using a IMU on top of the robot, it can detect when it start leaning to a side, and then temporarily soften the other side to balance the robot.

This is quite a common technique in legged robots, but [James] does an excellent job of explaining just how it works. He hopes to use the lessons learned from the test platform to improve or redesign his already impressive OpenDog.

We’ve seen a number of quadruped robots on Hackaday recently. Including Boston Dynamics’ very expensive Spot as well as a low cost robot dog that giving its big brothers a run for their money, and doing some back flips in the process. Check out James’ video after the break. Continue reading “Making A Robotic Dog Better By Adding Springiness Without Springs” →

A Remote Control, Swing Wing F-14

November 2, 2014 by 19 Comments

Anyone can build a remote control airplane with a sheet of foam, some glue, and a handful of servos. Building an F-14, complete with the swing wing mechanism? [Thomas] found built one that’ll take you right into the danger zone.

This was [Thomas]’ first go at scratch building a RC airplane, and wanted a lot of electronics inside. His choice of airframe was the venerable F-14 Tomcat, complete with wings that swing out for landing and swing in for high-speed flight. This isn’t just taking off-the-shelf receivers and putting them in a fancy airframe, either: [Thomas\ is reading the PWM signals from the receiver with a small electronics board, mixing the elevons with his own code, and implementing an auto stabilization system with an accelerometer.

Most of the work on the airframe was done by [Maybz] over on the RCGroups forums. That’s an impressive thread spanning seven years of posts. [Thomas] doesn’t see his F-14 as an end goal, though: he’s using this as a stepping stone to learn about building unstable planes for a more complex UAV.

Videos below, with a warning to headphone users.

Continue reading “A Remote Control, Swing Wing F-14” →