Balancing on Inline Wheels with Gyroscopes
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Published 2021-05-10
This is part 2 of my Control Moment Gyroscope (CMG) balancing experimentation. I've built many robots that use solid state gyros and accelerometers to make them balance - mainly two wheel balancing robot and ball balancing robots. But how can we use physical spinning gyroscopes to stabilise or make robots balance? I've built a Control Moment Gyro which uses a solid state IMU to measure the angle of roll of the whole device, and then tilts a physical spinning gyro powered by a brushless motor, so cause a perpendicular force.
Last week's video about V1 of this project: • How this Active Gyroscope Balances
CAD and code: github.com/XRobots/ControlMomentGyros
More about Control Moment Gyros: en.wikipedia.org/wiki/Control_moment_gyroscope
Thanks to ROBOTIS for the Dynamixel servo: Check out: www.dynamixel.com/
This servo is: www.robotis.us/dynamixel-xm540-w270-t/
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HARDWARE/SOFTWARE
Below you can also find a lot of the typical tools, equipment and supplies used in my projects:
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XROBOTS
Former toy designer, current YouTube maker and general robotics, electrical and mechanical engineer, I’m a fan of doing it yourself and innovation by trial and error. My channel is where I share some of my useful and not-so-useful inventions, designs and maker advice. Iron Man is my go-to cosplay, and 3D printing can solve most issues - broken bolts, missing parts, world hunger, you name it.
XRobots is the community around my content where you can get in touch, share tips and advice, and more build FAQs, schematics and designs are also available.
All Comments (21)
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Please remember to check out last week's video for more info. Patrons and YouTube Channel Members have next week's video already!
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I could be sleeping, but this is more important
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I don't understand how you are able to release this kind of content so often. I can only imagine it would take me months to do just one of your projects. Awesome video as always!
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Your work is straight up addictive to anyone with an interest in physics, robotics, and coding. I'm legitimately thinking about reading up on PID controllers, because imagining the FIR/IIR (I think these are appropriate) diagram of literally rerouting the output of the gyros to the set point is just satisfying, regardless of the hackyness. I remember having a terrible time trying to develop a balancing robot with my childhood NXT, and this would have been just the encouragement for me to go more advanced.
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ball bearings for weight, interesting. spin that puppy fast enough and you got a claymore. also, if you put a picture of an eye on that gyro, its slow back and forth oscillation would look like an eye looking around the room.
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I’m imagining a huge transport droid that can carry shipping containers on two wheels at either end
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I can see Colin Furze making a motorbike with this in it so he doesn’t need to put his feet down when he stops. How cool would that be?
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Jesus christ that fanhome thing. "Only 99 cents for the first stage and 5 bucks for the next 3 stages, 9.99 per stage afterwards" Ok cool how many stages are there "100" Alright cool so this whole thing is only £975 in total instead of £999. thanks for the 2.5% discount guys, you're completely insane.
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LOVING the idea of a one wheeled robot James - holy grail stuff right there.
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The real robot here is James. He never smiles or laughs or makes jokes and it took me way too long to realise this.
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This man needs to do fusion 360 tutorials
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Great videos, love the fact that you publish all the code and files for free. Helps spread the ideas for other to try themselves
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thanks for visualizing control-systems in an easy to understand ways. Helps a lot to see physical applications instead of the lifeless block diagrams they hand you at university.
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This was amazing! I was astounded to learn about the wave dampening gyros on boats you mentioned in Part 1, and this is even cooler to really see an application of gyro balancing. Great content!
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you're a wizard. every video is a treat
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On a total unrelated topic- the background music is awesome. Such a balanced bass
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Beautiful idea
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i truly admire your knowledge and experience in so many science branches
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I am utterly in love with the quality of your 3D prints! I'd love to pick my way through your slicer profile!
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Omg James you touched so many important Control Systems topics with this robot!!! This is really amazing!!! I wanted to suggest the 1 wheel Balancing Robot, that would be out of this world! Looking forward to do a pull on your git repository for this!!!
