James Bruton | Robot Dog - Stability using Dynamic Compliant Simulated Springs @jamesbruton | Uploaded 4 years ago | Updated 17 hours ago
I've been experimenting with simulated springs using back-driveable gearboxes with ODrive Brushless motor drivers to hold their positions, and of course current increases to hold the motor in position as they are 'sprung' away from their position. This allows dynamic control of the virtual spring tension.
I also implemented a controller to partially drive the motor to a new position if the leg is forced away from it's target. This controller allow dynamic control over the compliance of the virtual spring.
Using an Inertial measurement using to measure roll of the whole machine, I'm able to alter compliance on each leg to make it dynamically and actively stable.
This is only a test for compliance of robotic legs - there are no other axis for walking.
① HARDWARE/SOFTWARE
What more important hardware is there in life than the clothes on your back and the cup in your hand. You can get your own Robot X tee or openDog mug at the link below:
Teespring: teespring.com/stores/james-bruton
Below you can also find a lot of the typical tools, equipment and supplies used in my projects. Some of these links are affiliate links, meaning, at no additional cost to you, I might earn a little extra if you click and make a purchase.
Lulzbot 3D Printers: http://bit.ly/2Sj6nil
Lincoln Electric Welder: bit.ly/2Rqhqos
CNC Router: bit.ly/2QdsNjt
Ryobi Tools: http://bit.ly/2RhArcD
Axminster Micro Lathe: http://bit.ly/2Sj6eeN
3D Printer Filament: http://bit.ly/2PdcdUu
Soldering Iron: http://bit.ly/2DrNWDR
Vectric CNC Software: http://bit.ly/2zxpZqv
And don't forget the code for some of my projects is available on my GitHub here: github.com/xrobots
② GENIUS
No MacArthur grant yet. But while I’m still waiting by the phone for that call, maybe you might patronise me with your Patreon-age or pick up some of my merchandise. Or, if you’re all out of digital cash just comment on one of my hilarious Instagram pics, pop me a Tweet or generally yell in my direction.
Patreon: patreon.com/xrobots
Teespring: teespring.com/stores/james-bruton
Instagram: instagram.com/xrobotsuk
Facebook: facebook.com/xrobotsuk
Twitter: twitter.com/xrobotsuk
Huge thanks to my patrons, without whom my standard of living would drastically decline. Like, inside out-Farm Foods bag decline. Plus a very special shoutout to Aleph Objects, Inc who keep me in LulzBot 3D printers and support me via Patreon.
Why not join my community, who are mostly made up of actual geniuses. There’s a Facebook group and everything: facebook.com/pg/xrobots.co.uk/community
③ 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.
④ MUSIC AND SFX
The majority of the music and SFX used in my videos is from Epidemic Sound http://share.epidemicsound.com/xrobots
I've been experimenting with simulated springs using back-driveable gearboxes with ODrive Brushless motor drivers to hold their positions, and of course current increases to hold the motor in position as they are 'sprung' away from their position. This allows dynamic control of the virtual spring tension.
I also implemented a controller to partially drive the motor to a new position if the leg is forced away from it's target. This controller allow dynamic control over the compliance of the virtual spring.
Using an Inertial measurement using to measure roll of the whole machine, I'm able to alter compliance on each leg to make it dynamically and actively stable.
This is only a test for compliance of robotic legs - there are no other axis for walking.
① HARDWARE/SOFTWARE
What more important hardware is there in life than the clothes on your back and the cup in your hand. You can get your own Robot X tee or openDog mug at the link below:
Teespring: teespring.com/stores/james-bruton
Below you can also find a lot of the typical tools, equipment and supplies used in my projects. Some of these links are affiliate links, meaning, at no additional cost to you, I might earn a little extra if you click and make a purchase.
Lulzbot 3D Printers: http://bit.ly/2Sj6nil
Lincoln Electric Welder: bit.ly/2Rqhqos
CNC Router: bit.ly/2QdsNjt
Ryobi Tools: http://bit.ly/2RhArcD
Axminster Micro Lathe: http://bit.ly/2Sj6eeN
3D Printer Filament: http://bit.ly/2PdcdUu
Soldering Iron: http://bit.ly/2DrNWDR
Vectric CNC Software: http://bit.ly/2zxpZqv
And don't forget the code for some of my projects is available on my GitHub here: github.com/xrobots
② GENIUS
No MacArthur grant yet. But while I’m still waiting by the phone for that call, maybe you might patronise me with your Patreon-age or pick up some of my merchandise. Or, if you’re all out of digital cash just comment on one of my hilarious Instagram pics, pop me a Tweet or generally yell in my direction.
Patreon: patreon.com/xrobots
Teespring: teespring.com/stores/james-bruton
Instagram: instagram.com/xrobotsuk
Facebook: facebook.com/xrobotsuk
Twitter: twitter.com/xrobotsuk
Huge thanks to my patrons, without whom my standard of living would drastically decline. Like, inside out-Farm Foods bag decline. Plus a very special shoutout to Aleph Objects, Inc who keep me in LulzBot 3D printers and support me via Patreon.
Why not join my community, who are mostly made up of actual geniuses. There’s a Facebook group and everything: facebook.com/pg/xrobots.co.uk/community
③ 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.
④ MUSIC AND SFX
The majority of the music and SFX used in my videos is from Epidemic Sound http://share.epidemicsound.com/xrobots
