| General > General Technical Chat |
| Super Sick - 56 transition controls for a triple inverted pendulum. |
| (1/1) |
| BrianHG:
:scared: Talk about some serious balanced motion control. :scared: I still cant believe they got all 3 pendulum joint to stand vertically in position 7 yet alone make a transition from form all other configurations to and from the total vertical alignment. |
| Hawaka:
It is pretty impressive, but the real question here is: Were the transitions calculated or created by random try? |
| dobsonr741:
Been asked on the YouTube comments. Calculated + feedback. All 3 joints send position feedback. |
| BrianHG:
It does look like they have rotary encoders on at least the first 2 joints. However, I could be wrong. To keep it completely frictionless, they probably need some sort of optical or very low friction contacts prom axis-pivot to the next axis-pivot. Otherwise, if it is all load cell measured at the moving base, this it is too unbelievable. Because of other videos on Youtube, like the impossible miss basketball net, camera feedback is also possible. |
| Infraviolet:
Each of the joints has a bulky blue (perhaps 3d printed plastic) housing behind it. There'd be plenty of room in there for an optical or magnetic encoder, even if only a fairly low res quadrature one. Very impressive work! |
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