My purpose is to build a safe (does not fall) and robust (no gears, belts etc) robot that can “walk” on streets or rough terrain … and do as many things as possible.
The work is just beginning …
Mihai
This is super super cool!! Thanks for sharing!
I’m curious what sort of control loop you’re running – are you actively controlling the payload angle, sort of like the cascaded controller you’d use for a self-balancing robot? Or just using it as a counterweight and directly controlling motor velocity?
I’m currently controlling the speed manually and the payload is used as a counterweight.
I was interested in creating a self-balancing robot, but I do not think it is possible with the motors that I’m using now (they are direct drive, no gears, very heavy (6kg each), 26 pole-pairs, kV 8).
I tried switching the direction of the motors very fast, but this consumes a lot of current (more than 40-50 Amps) so I don’t know yet if I can control them in the way I want.
My purpose is to make a simple and robust robot that can do many things. The first real application will be a plant-watering robot where I’ll attach a hose with an electric valve to it.