The Wheelbot: A jumping reaction wheel unicycle

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Combining off-the-shelf components with 3D-printing, the Wheelbot is a symmetric reaction wheel unicycle that can jump onto its wheels from any initial position. With non-holonomic and under-actuated dynamics, as well as two coupled unstable degrees of freedom, the Wheelbot provides a challenging platform for nonlinear and data-driven control research.
This work will be presented at IROS 2022 and is part of the article "The Wheelbot: A jumping reaction wheel unicycle", published in the robotics and automation letters (RA-L): ieeexplore.iee...
Researchers:
A. René Geist, Jonathan Fiene, Naomi Tashiro, Zheng Jia, Sebastian Trimpe
This work was done at the Max Planck Institute for Intelligent Systems, Stuttgart as well as RWTH Aachen University and is being supported in part by the Max Planck Society and the Cyber Valley initiative. A. René Geist was supported by the International Max Planck Research School for Intelligent Systems (IMPRS): imprs.is.mpg.de/
Wheelbot project page: sites.google.c...
RU-vid Channel of the DSME: / @datascienceinmechanic...
DSME homepage: www.dsme.rwth-...
MPI-IS Robotics homepage: is.mpg.de/en/r...

Опубликовано:

13 сен 2024

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Комментарии : 29

@joesheetsAKAtokuta Год назад

This is an inspiration fot a project ive been brewing in the back of my head for a while now this is incredible

@temperini 2 года назад

Ooohhh! Great job 🥰👏🏼👏🏼👏🏼

@240dbprisms5 9 месяцев назад

This is the most impressive

@julianmartus 2 года назад

Great work, keep it up :)

@CarlBugeja 2 года назад

cool bot! well done!

@rahuls7039 9 месяцев назад

This is just awesome.

@0m1d 2 года назад

I saw a cube but never seen one like this

@Derrick6162 Год назад

Very impressive, thanks for sharing.

@wjxway Год назад

Love your work! Good job!

@kyuhyong 2 года назад

Very impressive! Good job!

@santka3739 2 года назад

Nice idea, well done 👍

@julien3578 2 года назад

fantastic :)

@pandabike3826 11 месяцев назад

Lets blend the tech into Electric Unicycles, its time!

@SubdEUC Год назад

Они идут)

@cyberboy9550 Год назад

Where can I buy one?

@somehyjinx Год назад

Claptrap's great grandmother

@zeev 2 года назад

this but much smaller! sell it as a toy for 40$ and make a million. if sphere/orbotix/ollie can pull that off, so can this.

@bepriceless 2 года назад

$40? The control board probably cost $150.

@xpeHavblcoro 2 года назад

how turn to left or right this bot?

@AndReGeist 2 года назад

The reaction wheel (that's the upper wheel) can tilt the robot by a certain angle. If you want to keep the robot at this angle, the reaction wheel needs to accelerate such that the wheel would eventually reach its rate limit and the robot would topple. However, if the rolling wheel (that's the wheel touching the ground) starts to move the robot 'forward' , a tilted unicycle would start driving on a curve. At a given forward speed, you can find a tilt angle such that the reaction wheel does not need to accelerate to prevent toppling. You can observe a similar maneuver when watching a motorcycle driving through a curve. Here, the motorcyclist adjusts the tilt angle of the motorcycle depending on how fast she's driving through a curve. On the Wheelbot's project page you find a couple of simulation videos in which the Wheelbot drives small turns. We are currently working on this topic.

@dennisgolden7596 2 года назад

Maybe be able to build A better EUC than can help with balance.

@snabbgas1116 2 года назад

@@AndReGeist What about if you had two reaction wheels mounted at an angle above on each side of the driving wheel? Wouldn’t you be able to accelerate them in different direction to instigate a turn easier? And also to turn around its axis standing still.

@AndReGeist 2 года назад

@@snabbgas1116 Absolutely! :) If you add a third wheel that is orthogonal to the other two wheels, then you can directly control all three rotational degrees of freedom. Yet, that the robot's "turning dynamics" can not directly be controlled actually becomes a feature if you want to study the "controllability" of under-actuated nonlinear systems or are looking for a simple yet quite challenging system to test your data-driven control algorithms on. In other words, we don't use a third wheel not because it is easy (from a mechanical design point of view) but because it is hard (from a control point of view).

@HumbolSkitso 2 года назад

@@dennisgolden7596 Lol Electric Uni Cycles were my first thought too. Maybe this tech could somehow be used to help stop cutouts from dumping the rider on their faces and butts lol.