Uploaded February 2016 | Updated September 2026, 2 weeks ago
Highlights of my Master of Science thesis research project on active humanoid robotic balancing on dynamic terrain.
This video shows the four control algorithms implemented (PID, Fuzzy Logic, two different-sized Always-On Artificial Neural Networks) used in conjunction with two control policies: Do The Shake (where the robot attempts to keep the deck level at all times) and Let's Sway (where the robot induces a rhythmic oscillation to the deck).
My full thesis can be downloaded from the University of Manitoba libraries for those interested:
mspace.lib.umanitoba.ca/handle/1993/30828
This video was filmed at home in June of 2015 using Jimmy, one of the University of Manitoba's DARwIn-OP robots.
Highlights of my Master of Science thesis research project on active humanoid robotic balancing on dynamic terrain.
This video shows the four control algorithms implemented (PID, Fuzzy Logic, two different-sized Always-On Artificial Neural Networks) used in conjunction with two control policies: Do The Shake (where the robot attempts to keep the deck level at all times) and Let's Sway (where the robot induces a rhythmic oscillation to the deck).
My full thesis can be downloaded from the University of Manitoba libraries for those interested:
mspace.lib.umanitoba.ca/handle/1993/30828
This video was filmed at home in June of 2015 using Jimmy, one of the University of Manitoba's DARwIn-OP robots.
