DuCTT Robot, First Climb of a Short Duct Section Jeffrey Friesen 2015-02-20 | The Dual Compliant Tetrahedral Tensegrity Robot (DuCTT Robot) is designed for navigation of complex duct systems, with the ultimate goal being autonomous inspection and cleaning of such systems. The project is spearheaded by myself as one facet of my PhD research, with substantial contributions from members of the Flow Control and Coordinated Robotics Lab (FCCR) at UC San Diego and the Dynamic Tensegrity Robotics Lab (DTRL) within the Intelligent Robotics Group at NASA Ames Research Center. Here you see a preliminary climb of a small fiberglass duct section. Due to the early stage of testing we are operating the robot with only %40 of possible actuator power, limiting the ultimate climbing speed. My personal website:http://jeffreyfriesen.meFlow Control and Coordinated Robotics Lab: http://fccr.ucsd.edu/Vytas Sunspiral's Blog (Lead of DTRL):http://www.magicalrobot.org/BeingHuman
VESC Tool Mobile iOS Walkthrough of Features Jeffrey Friesen 2022-04-01 | Download this app on iOS here: apple.co/3JUQo4pDownload for Android here:http://play.google.com/store/apps/details?id=vedder.vesctoolThis was a requirement for uploading the app to the app store and I thought maybe it might be interesting to others as a demo of the majority of the app functionality. All credit to Benjamin Vedder for building an amazing app. Get involved here: vesc-project.comWas awesome to lend support to him in polishing the app and getting it into the apple ecosystem.
VESC Sensorless HFI Tutorial(FW 4.0) Jeffrey Friesen 2020-02-02 | A quick tutorial on how to setup high-frequency injection on vesc-based motor controllers on the new firmware 4.0. This offers superior sensorless motor operation in comparison to the existing algorithm.Check out Benjamin Vedder's video for an in depth explanation of how it all works: youtu.be/-qV1_xyrgzs
FOCBOX UNITY: Production Sample Case Hands On Jeffrey Friesen 2018-10-12 | A quick video showing off some of the features of the focbox unity case design.
Blacks Beach FOCBOX Unity Hill Test Jeffrey Friesen 2018-08-15 | A stress test of our beta unit motor controller riding up a very steep 1/2 mile long hill.
Raptor 2 Ride, Breaking my phone on a quick lappy around lake folsom Jeffrey Friesen 2018-07-05 | ...
Gus Rev2.5 Vase Timelapse Jeffrey Friesen 2016-04-20 | A quick vase print on my GUS 3d printer. Vase STL downloaded from here:http://www.thingiverse.com/thing:104694/#filesForum on this design revision here:http://forum.conceptforge.org/viewtopic.php?f=6&t=224
GUS rev2 Skull Print Time Lapse (and GUS rev1 failing) Jeffrey Friesen 2016-03-30 | A coupe fun time lapses I wanted to share.
GUS Simpson Revision 2 First Print Jeffrey Friesen 2016-03-27 | Here is one of the very first prints of my second design revision of the GUS Simpson printer. All initial mechanical design and vision can be credited to Nicholas Seward, I revised some of the underlying mechanical details with this revision. I have focused on changes which prolong the life of the printer through the use of pulleys and make assembly more straightforward via external string routing. This also makes the robot more easily serviceable.Note that for the second half of the first layer print I've accelerated to 5x speed to keep things moving along. Note that as of making this video no automatic bed-leveling routine has been implemented, and I am working to get something up and running soon. CAD Files:github.com/Jfriesen222/GUS_CAD_FilesSmoothieware Files:github.com/Jfriesen222/SmoothiewareForum thread:http://forum.conceptforge.org/viewtopic.php?f=6&t=224
Gus Simpson Stringing Tutorial Jeffrey Friesen 2016-01-08 | A quick tutorial for stringing up a linear actuator for my variant of the GUS Simpson 3D Printer. CAD repository here: github.com/Jfriesen222/GUS_CAD_FilesFirmware for Azteeg X5 here:github.com/Jfriesen222/SmoothiewareForum here:http://forum.conceptforge.org/viewtopic.php?f=6&t=224&sid=d1324def651d9bce464f6af803511eafBeats by Gabe Schamberg, download here:gabes.bandcamp.com
Calibration Cube with GUS Simpson Jeffrey Friesen 2015-11-25 | Got autobed leveling working yesterday. I am using the z grid algorithm in smoothieware which uses bilinear interpolation of a grid of measured points. I'm using force sensitive resistors for my z-probe which seem to be sufficient. Still debugging all the smaller aspects of this.
The First Print with GUS Jeffrey Friesen 2015-11-24 | extruder settings need tuning, and bed needs to be leveled (software and hardware), but it prints!
GUS Simpson assembled and doing simple movement Jeffrey Friesen 2015-11-16 | Making headway on this build
GUS Simpson CAD Revision Jeffrey Friesen 2015-11-06 | Did a slight revision on the CAD for the GUS SImpson printer, designed by NIcholas Seward. Started by importing to Solidworks because the initial model was in inventor which isn't my preference. I cleaned up all the mating so proper constraints existed. Then I worked to make the loads pass more directly through all joints by better aligning load paths. Note that all green components are 3D printed so geometric complexity is cheap as long as you have a good angle to print from.
Pendulum UKF with Decawave sensors 2 Jeffrey Friesen 2015-08-20 | Lower model trust. Higher noise but better at adapting to external disturbances.
Pendulum UKF with Decawave sensors Jeffrey Friesen 2015-08-20 | High amount of model trust. External disturbances are slow to be adapted to.
Soft Quadraped Sensor Test Jeffrey Friesen 2015-04-30 | Integration of flex sensors with 9 axis IMU to estimate soft robot position.
DuCTT color tracking for data Jeffrey Friesen 2015-02-22 | A quick color tracking algorithm for post processing video taken during DuCTT testing
DuCTT Robot, Sinusoidal Vertical Excitation Jeffrey Friesen 2015-02-20 | The Dual Compliant Tetrahedral Tensegrity Robot (DuCTT Robot) is designed for navigation of complex duct systems, with the ultimate goal being autonomous inspection and cleaning of such systems. The project is spearheaded by myself as one facet of my PhD research, with substantial contributions from members of the Flow Control and Coordinated Robotics Lab (FCCR) at UC San Diego and the Dynamic Tensegrity Robotics Lab (DTRL) within the Intelligent Robotics Group at NASA Ames Research Center. Here you see a sine wave command being executed by the robot, similar to the motion it would take during climbing a straigh tube. My personal website:http://jeffreyfriesen.meFlow Control and Coordinated Robotics Lab: http://fccr.ucsd.edu/Vytas Sunspiral's Blog (Lead of DTRL):http://www.magicalrobot.org/BeingHuman
First control implementation on DuCTT Jeffrey Friesen 2015-02-19 | Inverse kinematics controller on DuCTT implemented with simple vertical step commands.
DuCTT doing some small excitations Jeffrey Friesen 2015-02-18 | Commanded a simple bending excitation as a first hardware test of the fully assembled robot
DuCTT motor rod Jeffrey Friesen 2015-02-12 | A quick video of the actuator rod in DuCTT, 4 brushless motors being spun by a custom designed board. Getting close to having the robot fully assembled.
MVI 0820 Jeffrey Friesen 2014-09-30 | Slow motion video of position controller designed using two-stage closed loop system ID methods used with an iterative approach for control tuning. Credit to Pavlo Manovi at UC Santa Cruz for the hardware and embedded systems work, I just helped with a bit of system ID.
UKF LS Jeffrey Friesen 2014-09-16 | This is an example of a state estimation technique which takes in the string lengths of a tensegrity strucure and estimates the state of the robot. Here before the string lengths are fed into the estimator a zero mean gaussian white noise with a standard of deviation of 0.005 meters (axes are all labeled in meters) and is added to the actual string length measurements according to simulation. These measurements are then passed through a least squares optimization algorithm to estimate the state, and then this estimate is fed into an unscented kalman filter to remove unrealistic perturbations caused by the additive white noise.
