V2T2A Jan 2020: Mini two-wheels self-balancing robot with humanoid upper body

This is an experimental small robot that I completed in March 2018 (https://youtu.be/R6i-xSrRCec). Spend the next 1.5 years to further the theoretical understanding of the design and improve on the overall system. So far the machine is much more stable that the initial version. This robot is 26cm in height and weights close to 0.8kg. In this video I demonstrate the robot's machine vision module fitted on the head, lifting an object around 10% of it's body weight, and overcoming small obstacles. The idea is hopefully in future to have a robot robust enough to be able to do some useful work. To enable the robot to lift the load. I had to manually add some offsets to the set point for the tilt angle of the robot for different poses like when grabbing the object and lifting the object. These offsets depends on the shape and weight of the load, i.e. how much the load changes the center of mass and moment intertia of the combined body. So it is still pretty much choreographed for now.

- The arms are 3D printed, and the design is open source. For further info, please see: https://fkeng.blogspot.com/2016/04/self-balancing-two-wheels-mobile-robot.html
- For detailed information on the theory and modelling method please see:
https://fkeng.blogspot.com/2019/03/theory-and-design-of-two-wheels-self.html
- For the machine vision module on the head please see:
https://www.youtube.com/watch?v=m4_Zu8Dx1Ik&feature=youtu.be

Видео V2T2A Jan 2020: Mini two-wheels self-balancing robot with humanoid upper body канала fkungms