Really awesome robot, I think the suspension capabilities that the jumping mechanism provides is an awesome idea to allow much more robust terrain traversal despite the balancing robot archetype
Are you going to make more in depth videos about this? I am not an engineer, but would love to learn and this project seems to have incorporated a lot of cool things.
I couldn't see any gyros. Does this use only it's wheels to stabilize, and if so, wouldn't that reduce stability mid air? Also, if it's only stabilized through the wheels and legs, it's pretty impressive. Especially the emergency brake situation was an awesome showcase of the design. If you didn't use gyros, is that because of a hinderance of a higher jump or does it have any other reasons?
We didn't use gyro, we used a format similar to the ETH Asento idea, using only wheels to stabilize. When jumping and falling, the state machine detects state changes and switches the control strategy. Let me know if you more questions :)
So, those motors/actuators are around $300 each? Did you try to find more economical alternatives and if so, what would have been your next best choice? This is a real road block for playing around trying to make some diy robots. I have some hoverboard motors I'm going to try to use but I guess they don't come close to the torque & power (at least per unit volume) of the expensive actuators do they?
Thank you for pointing it out. The original body motor we selected is the DM 8006J, which has enough torque and RPM to achieve a 25cm jump based on our calculations. Saddly, out of the 5 motors we bought, two were broken for wired reasons (very disappointing). As a result, in order to complete our Capstone project on schedule, we switched to a different motor with a higher reduction ratio and lower RPM, resulting in a weaker jump.
@@agerken I presume if this is a capstone project, they can't just switch a name on a whim. They presented the result of their research with all of the good results and addressed the faults of the outcome (which was the use of another motor). That's the gist of the research after all. Imo as a capstone this is a commendable effort worth praising
