Balancing on Inline Wheels with Gyroscopes

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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 Gyrosc...
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Former toy designer, current RU-vid 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.
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13 сен 2024

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Комментарии : 508

@jamesbruton 3 года назад

Please remember to check out last week's video for more info. Patrons and RU-vid Channel Members have next week's video already!

@fuzzdogs 3 года назад

@benwaterz2122 3 года назад

How are you so fast with CAD

@lambsauce5445 3 года назад

Please can you do a full tutorial on a basic ROS robot. Without the hardware creation but setting up the arduino, setting up the Raspberry Pi loading ROS and doing that jazz. It'll really help people like me out, I am very confused. Thanks for everything else though1

@srtghfnbfg 3 года назад

Is there any way for poor ppl, who cannot 3D print, to get the printed elements for this from your shop or something ? =O

@fuzzdogs 3 года назад

@@srtghfnbfg there are plenty of 3d print on-demand services

@Dragonasce 3 года назад

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!

@Koushakur 3 года назад

It's mostly because he's been doing it for many years new, even longer than he's been doing RU-vid and that's 13 years in and of itself.

@procactus9109 3 года назад

And he seems to get everything for free.

@adissentingopinion848 3 года назад

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.

@Orlandofurioso95 3 года назад

If you know maths up to derivatives and integrals, the PID controllers aren't that complicated. I play Factorio, and hacked a PID controller out of combinators to manage my laser turret power...

@dapootisbird3608 3 года назад

I could be sleeping, but this is more important

@jamesfletcher1689 3 года назад

same

@AstonishedByTheLackOfCake 3 года назад

me_irl

@meetthecassiani 3 года назад

Me too

@phyliciasalazar8210 3 года назад

R/me-irl

@vectorentertainment1733 3 года назад

U have no idea

@DeSinc 3 года назад

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.

@spankstergangster2916 3 года назад

Hello there

@hs.j7291 3 года назад

Hay

@dan3a 3 года назад

Didn't expect you here

@havish530 3 года назад

Oh half life 2 guy here hey!

@davidraine2217 3 года назад

So in order to get the gyroscopes up to speed I've installed several dozen ball bearings in these plastic discs and I'm going to spin them at several thousand rpm to initiate a grenade boosted backhop off of this ramp here-

@TrudgeRC 3 года назад

LOVING the idea of a one wheeled robot James - holy grail stuff right there.

@SirHackaL0t. 3 года назад

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?

@TheNadOby 3 года назад

Gyros should be placed to spin in the horizontal direction, though to make turning possible at all.. I immediately thought about a TRON-themed bike.

@procactus9109 3 года назад

BMW have done it

@AmaroqStarwind 3 года назад

Or a pedal-operated bicycle.

@cxob2134 3 года назад

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.

@tsikada 3 года назад

I’m imagining a huge transport droid that can carry shipping containers on two wheels at either end

@MCLooyverse 3 года назад

Hmm. When they're not moving a container, do they become unicycle bots?

@Blacktronics 3 года назад

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.

@tripwire76 3 года назад

And you have to wait almost two years until you have all the parts to complete the model. I can see that most people are unable to spend 1000 bucks on a model, no matter how detailed and well made it is and that spreading that out to 100 payments will make it affordable. I for myself would never subscribe to such a thing. The waiting time would kill my motiviation and I would always fear that the company might go out of business before I have gotten all the parts.

@LordDragox412 3 года назад

Yeah, it's a classic sham. These things were popular in 1980s and even before then, they just brought it back. The end product is never as good as advertised as they don't have to worry about quality - most people will never get to the last stage as they get tired waiting and realize how much money they were drained of, and those who do last already spent their money so there's no point for them to regret their investment as it won't change anything.

@mealex303 3 года назад

140 more like

@Pfaeff 3 года назад

@@tripwire76 I once had a subscription like this from a different company. I got half-way through the build and then received a faulty part. Got a replacement, which was faulty as well. Sent that one back again and then they were out of stock.

@Blacktronics 3 года назад

@@tripwire76 I mean yeah it's basically a scam. They're trying to get people hooked on the subscription because the longer you have been subscribed the more you "lose" on not completing the thing all the way. The only real expensive they have is tooling cost (all the injection molds, pretty pricy) and the licensing fees. They are offloading one of the most expensive steps in something like this, the assembly, to the customer. I'd bet the first 50 stages you receive are pure injection molded landfill junk. Actually, thinking about it, the entire thing is landfill junk. Pretty disappointed that James is promoting deceptive stuff like this, the website is deliberately vague on the amount of stages and total cost, and people do fall for stuff like this.

@thesoupin8or673 3 года назад

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!

@mutumester6510 3 года назад

This man needs to do fusion 360 tutorials

@WistrelChianti 3 года назад

Some of his earlier videos are more like that. I got into learning it through watching them. I recommend any of Brad's "how would I build that" tutorials on the official site. He is a brilliant teacher.

@OzzMann80 3 года назад

Great videos, love the fact that you publish all the code and files for free. Helps spread the ideas for other to try themselves

@dhruvbose8294 3 года назад

The real robot here is James. He never smiles or laughs or makes jokes and it took me way too long to realise this.

@gregoirepainchaud 3 года назад

Maybe he wants to learn to replicate himself 🤷🏻‍♂️

@crzprgrmmr 3 года назад

On a total unrelated topic- the background music is awesome. Such a balanced bass

@kirby7979 3 года назад

you're a wizard. every video is a treat

@vectorentertainment1733 3 года назад

It's beyond me why you're Chanel isn't much larger, your work is on point

@jamesbruton 3 года назад

Thanks, it's getting there!

@vectorentertainment1733 3 года назад

@@jamesbruton wow a reply from the master thank you so much

@vectorentertainment1733 3 года назад

@@jamesbruton any chance you would want to sponsor a robotics team? Thought it was worth the asking

@Skyentific 3 года назад

Great video!!!

@jamesbruton 3 года назад

Thank you!!

@bbogdanmircea 3 года назад

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!!!

@F.W.E Год назад

Man ive had a lil thought bubble for a gyroscopic motorcycle and this is a large step in that vision, well done

@endthefighting 3 года назад

I am utterly in love with the quality of your 3D prints! I'd love to pick my way through your slicer profile!

@jtjames79 3 года назад

Finally a use for a hubless bike wheel, That's where you put your gyroscopic flywheels. Regenerative braking is an efficient because the electricity has nowhere to go, the batteries can only take so much. You only need the gyroscopes going when the bike is stopped. Dump your regenerative braking into the gyroscopes. That also means you can get a boost from a dead stop without hammering your batteries. Store a little in the flywheels at all times, and you could have a boost button. The right computer logic you might even be able to get it to do some crazy cornering.

@graealex 3 года назад

Actually, regenerative braking is inefficient because with bikes, most energy is lost on air drag and friction/roll resistance anyway.

@richardmartin3127 2 месяца назад

Most informative James thank you from New Zealand.

@robertleroux5773 3 года назад

If you have a single gyro in the center that can rotate 360 you wouldn't have to worry about it reaching the endstop. A one wheel balancing robot, Claptrap from borderlands would be awesome to make.

@max_kl 3 года назад

But once this gyro is rotated perpendicular to the robot it doesn't have any control authority anymore, so effectively there's still an endstop

@mrpicky1868 11 месяцев назад

bravo. one youtuber that builds things that can actually 1. work ..2 have sense as a product in real life

@MuhammadDaudkhanTV100 3 года назад

Beautiful idea

@OCDRex11 3 года назад

I always watch you James and immediately think, "why"? No offense, it is just my brain not being able to accept that these things need to be made. Yet, I quickly click on the video(s), sit back and just go WOW! You really address challenges that I will bet .001% of the hobbyists in this world will ever think of. Thank you for that! The simplicity in how you describe these what I perceive "way over the top" projects makes me feel like I too could make this balancing gyroscopic feat! Alas, I am humbled by the fact I can't code and Arduino are still something I need to dive in to. If I had the backend knowledge of the programming these projects wouldn't seem so daunting. Cheers to you!

@grzegorzbrzeczyszczykiewic897 3 года назад

i truly admire your knowledge and experience in so many science branches

@brendan3966 11 месяцев назад

Moving the battery to the top will make this more stable if anyone is trying to do their own version with smaller gyros and less powerful motors. This one is obviously very cool the way it is.

@redactedbananas 3 года назад

It would be cool to build a system like this with a drive wheel in back and the gyros over the front wheel, using leaning to turn.

@andrewslater6846 3 года назад

James Bruton, you should become the next Bruce Yeany. You already have almost all the projects. I had the idea from your introduction/summary of past projects in this series. You can make physics labs that incorporate real world physics into computer programming. Making these hands on, easy to see whats happening labs will be a good way to systematically revamp STEM (more input from more artful people than myself would be needed to turn it into STEAM). Think about this, I don't know if you wanna create a whole curriculum, but at least a standardized set of instructions with key learning points, fun build projects, and lab experience training would be really appreciated. From my lab experience in high school and college, they can and have helped. But in mechanical engineering, the most programming we do in lab is excel, which isn't much fun. (there's MATLAB but thats not till way later). I think you have a great opportunity to incorporate computer science with physics classes. Great videos, this is truly good content!!

@speedbump0619 3 года назад

What you aren't including in your control scheme is the movement profile of the gyro motors. Speeding up and slowing down those motors in combination with managing the gyroscopic procession should let you move forward and backwards. Slightly angling the wheel mounts would let side tilt cause a turning radius. It would be interesting to see how much stable control you could manage. I remember following along with an online class called "Underactuated Robotics", and this machine makes me think of that

@MCLooyverse 3 года назад

I'm not sure I understand how you did it, but I'm happy that your solution (have the bot oscillate around true balance) was the solution I had in mind. The (approximate) way to implement it I was thinking of was "if you're constantly having to move one direction, just overdo it for a bit, then go back to normal".

@meetthecassiani 3 года назад

Nice socks. Awesome robot!

@johgranger1304 3 года назад

I LOVE YOUR BRAIN! Please make a "Learn robotics" channel! (Even if you post only 4 episode per year!)

@BenjaminGoldberg1 3 года назад

Really cool. One minor mistake I noticed is that you put the battery at the bottom to lower the center of gravity. Having a low center of gravity is only helpful for something statically balanced.

@jimjames4348 19 дней назад

Cool! I love gyroscope stuff.

@jeffcarr392 3 года назад

I'd like to see you build this robot with one driven wheel and a steering wheel, you could then make it effectively a remote control bike but that stays upright when stationary. Cool project. 👍👏👏👏👏

@graealex 3 года назад

In line with the roll-amplifying gyroscopic boat correction, I have an idea on how one could make rollerblading very difficult...

@mikegLXIVMM 3 года назад

www.seakeeper.com/

@randomelectronicsanddispla1765 3 года назад

3:13 spooling up the old 20MB hard drive.

@SuperAlgae 3 года назад

With the automatic set point adjustment, can you now remove the weights taped to one side and have it automatically find the balance point (which might not be perfectly vertical)?

@clonkex 3 года назад

If you built it so that gyro wheels could rotate continuously (such as using a slipring to get power to the gyros) you could even allow it to hold position at 45° angles indefinitely.

@shanehoneycutt177 3 года назад

This is a really good design.

@gummy0worm 3 года назад

You could add a thrid gyro on top that adds force in either direction, making all moving parts gyros

@jarrodkluk7514 3 года назад

LOVE all the Ads in this one

@ChristieNel 3 года назад

Brilliant. There's also a motorcycle that stays upright using gyros when you get off.

@adyyvhbgcfbjjggghbbcgg 3 года назад

I like using my kickstand for that.

@ChristieNel 3 года назад

@@adyyvhbgcfbjjggghbbcgg I just keep riding.

@davisfamily9510 3 года назад

One wheel robot sounds awesome!

@Augmented_AI 3 года назад

An idea for you is to motorize it and then while its moving, you can minimize how much power is being used by the Gyro and redirect that power to the forward moving motors. Whats your thoughts on this?

@thorfinnroar8672 3 года назад

idk how this would go, but what if you used metal fill filament for the gyros, if would be hella expensive, but would be a cool experiment.

@International_Jetset 3 года назад

My tuesday must watch.

@Dustedveil 3 года назад

Put that mechanism in a big wheel it would look so good

@medienmond 3 года назад

I like this new format...

@LanceThumping 3 года назад

For projects like these, you'd probably save money and get better results if you bought a bunch of lead shot, filled a void in the print then put enough in that when you close the print, the clamping force holds everything together (like mechanically stabilized dirt if you've seen that video).

@clownwreck 3 года назад

It would be very cool to build a miniaturized version of this into the head of a fancy cane, so that when activated the cane would stand up where you left it, balancing. I don't know what practical purpose it would serve, but it would be a neat "magic" trick!

@Teth47 3 года назад

It doesn't have to serve a practical purpose, but an undroppable cane would actually be really useful for the elderly. You can let go of the thing without it clattering to the floor immediately as long as it's close to upright, I can see that being worth a couple hundred bucks.

@clonkex 3 года назад

@@Teth47 Actually if twisting a spinning gyro around an axis perpendicular to the spin axis gives you a force perpendicular to the plane described by the spinning and twisting axes, with a slipring to power the gyro's primary spinning axis, you could make it so that the twisting axis could twist continuously, which, with a sufficiently heavy gyro weight and/or high enough spinning speed, would allow the cane to stand up from even completely upside down. Whether or not you could fit that into a cane, idk :P

@TheDeerInn 3 года назад

You need to build a lathe and a balancer to make sure everything is round and balanced for high speed parts. This is so cool!!!

@avejst 3 года назад

Great design 👍 Looking forward to seeing the progress 😃 Thanks for sharing your experience with all of us 👍😀

@invadervim9037 3 года назад

This could be a pretty wild set of roller blades

@davidgustavsson4000 3 года назад

You should record the pid output and make a rolling graph alongside your video recording. I'm especially interested in seeing it relax while the thing is rolling, and spiking when pushed.

@coreycranford3694 3 года назад

Have you done any testing where the center of the gyroscope had a spoked design. You would be decreasing mass, but also increasing its moment of inertia such that it should be able to counteract the change in mass. Love the work your doing!! Can’t wait to see more.

@beautifulsmall 3 года назад

Great work, I do love a balancing robot, No 3D printers when I made Earwig .

@RDTOYS 3 года назад

Superb explain

@apocraphontripp4728 3 года назад

I do both gyros and servos. Great job by the way. You do realise that you could also use a flywheel...which could double as a kinetic battery source.

@whattheheckisthisthing 3 года назад

If you put quad skate bushings on it you can get it to turn by leaning

@chitailun 2 года назад

Instead of a observing controller, you might consider to increase the spin speed when off-balance and revert it to normal when in center.

@ImPokah 3 года назад

Amazing video !

@Rouverius 3 года назад

Wow, that is working really well. Yes, it would be amazing to see a one-wheeled version working. Sorry, noob questions here: What happens if each gyro would run at different rpm? Could that possibly used to control the yaw?

@Dreadnor. 3 года назад

Sir, your cable management is supreme. Just wanted to point it out.

@feelings4486 3 года назад

Big fan James Bruton ❤️ I love your all projects They are very helpful ☺️

@GrantStephens 3 года назад

I was just wondering about something like this yesterday- I was thinking about making a self balancing bicycle. Judging by the size and weight of those gyros it would be quite large to be able to balance a bicycle.

@vikramadityasutradhar7372 3 года назад

Learn to ride one

@haneen3731 3 года назад

As always your robots are really beautiful. I would appreciate it if you could please make more in depth videos that cover programming in the context of robotics and explain more of the designing process on Fusion 360 or in general. Thanks for sharing your work!

@marneierencio8275 3 года назад

Amazing James! I had a lot of concerns about that and you help me to clarify many of them. I have a project/dream to create a real size electric bike using this principle to keep it always up, without physic stands. This video will can help me. Thanks bro!

@Pfaeff 3 года назад

It's such a simple concept, but it looks totally physics-defying.

@SpencerPaire 3 года назад

James has learned the next skill he needs on his path towards making a robot dog; Randomly striking it while it's trying to stand still.

@kashyapkoshti 3 года назад

by adding one more servo to perpendicular to length of base you can drive it in forward/backward.

@lordsqueak 3 года назад

Hmm, How about putting a sail on it, and add steering. Being able to balance while the wind is pushing it would be the ultimate challenge for the design I think. And you get something you can drive around.

@iamgrays 3 года назад

I have to say that is pretty good!

@muthurambalasubramanian6000 17 дней назад

Hi James, Enthusiast here. Could you explain the algorithm u developed for dynamic set point balancing ? I tried to see in you code but it wud be helpful if the explanation comes from u. Thanks in advance

@Calvin-xe6kb 3 года назад

Staying upright when driving a fast corner would be awesome.

@beeeeep 3 года назад

I'll make a backpack version of it. Turn it on when I leave the pub heading home. Falling is a thing in the past. Would that work as a stabilizer for people with balancing issues? Could be a great application if so. Cheers

@jwalker1429 3 года назад

If you mount the gyros at a 45 degree angle, could you exert a force both to the side and backward, and make the contraption move forward and stay upright?

@expiredlamb2000 3 года назад

What if you make it possible for the gyros to move in one direction forever? I can see that it would make the whole thing bigger, but that would fix the problem of gyro creep at least.

@nilsdock 3 года назад

please build one with high center of mass since it will act like a reverse pendulum and will take more time to fall over, thus giving more time for the balancing gyros to correct. i think it could be more stable for the same reason balancing a broomstick on its end is easier than balancing it on the middle.

@tonypurvis1942 3 года назад

I see you do robots, you are very good at it. This mechanism could be useful to encourage people onto stable electric motorcycles or whatever we call them in the future. They would stay balanced while stopped and the inertia of the balancing wheel could be use to propel the cycle forward.

@hollensted 3 года назад

Looking forward to The Unicycling Robot.

@naveenv996 3 года назад

Please do reaction wheel balancing stick, that would be very interesting of this series and makes this balancing series complete...

@johnkubik8559 3 года назад

What about using a servo driven counter weight balancing side to side to keep the center of gravity in the middle, it should be more power efficient.

@SvenHecht 3 года назад

If we add a kinetic steering system (use the giros to tilt and let the kinetic steering rotate the wheels) and motorize it could become a nice little remote controlled motorcycle

@FrankGraffagnino 3 года назад

on the international space station... when the CMGs get to the point where they can't exert force any more, we call that "Saturation". There is some automatic communication to the russian thrusters to do a "de-saturation" which can get the CMG axes back where they have control authority again.

@clonkex 3 года назад

CMGs? Or reaction wheels? Does a CMG actually have a saturation limit except for how much force it can apply? Like sure if you just rotate it continuously you'd be able to apply a continuous force, up to the point where the motor rotating the gyro around an axis perpendicular to the primary weight-spinning axis hits its maximum speed. Even at that point, you'd still be applying a force, just not enough for whatever is requested, presumably.

@FrankGraffagnino 3 года назад

@@clonkex yes, CMG and you are right, at some point you lose a degree of freedom. You can read more about them here: en.wikipedia.org/wiki/Control_moment_gyroscope#International_Space_Station

@ajay-or4jv 3 года назад

This was in my mind but nice to see some practically nice

@thornton19toews 3 года назад

Would be cool to motorize the wheel for forward motion and have the robot turn direction by adjusting the roll angle with the gyros.

@ygberg 3 года назад

Yes... go for the onewheeler! Have it distribute drinks at a pary...

@jedmoutahir 3 года назад

Would be great if you gave us some values about the limits of this project. For example the maximum speed of side wind that it can work with.

@ryannickles3218 3 года назад

This is awesome! I'd love to see it motorized and also have the front wheel turn so you can drive it around.

@noloafingwgas 3 года назад

Would the wheel need to turn? You could turn by doing the lean? ( Not a very tight turn )

@gregoirepainchaud 3 года назад

@@noloafingwgas when you lean, you can counter turn to turn more aggressively, just like a motorcyle

@doubleedgedsword6352 3 года назад

Hey! Enjoying all these videos for sure, but this one inspired for me an idea, and for you a challenge: Build those gyros into the wheels on clutches, so that they drive the vehicle when engaged, and when it comes to a stop it remains upright. Obviously my brain jumped ahead to the 2 wheel car at this point, but you might want to perfect the concept before contacting Tesla! 😁

@H34... 3 года назад

I wonder how well you could get it to ballance on a single point by giving those two gyros a second axis of tilt each. Might work as a stabilization method for a future biped?

@christianparker9315 3 года назад

That stabilization would really add something to robo dog!

@spike7112ify 3 года назад

Your outro song has me half expecting you to scream walterific at the end. He has used it for a long time lol.

@crackedemerald4930 3 года назад

That skateboard hardware you bought sure is giving mileage

@ensarija 7 месяцев назад

Similar to monorail train built back in 1920 (Swiss inventer).

@DatsunRacingTeam 3 года назад

Could you mount a reaction wheel perpendicular to the gyros? when the gyros drift near to their end stops, use the reaction wheel to temporarily negate the force of the gyros as they return to the center position. This would allow the gyros to essentially move continuously as they can quickly reset when they have nearly run out of travel.