Author Topic: Super Sick - 56 transition controls for a triple inverted pendulum.  (Read 1326 times)

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Offline BrianHGTopic starter

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 :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.


 

Offline Hawaka

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Re: Super Sick - 56 transition controls for a triple inverted pendulum.
« Reply #1 on: March 16, 2023, 06:33:32 am »
It is pretty impressive, but the real question here is: Were the transitions calculated or created by random try?
 

Offline dobsonr741

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Re: Super Sick - 56 transition controls for a triple inverted pendulum.
« Reply #2 on: March 16, 2023, 07:23:15 am »
Been asked on the YouTube comments. Calculated + feedback. All 3 joints send position feedback.
 

Offline BrianHGTopic starter

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Re: Super Sick - 56 transition controls for a triple inverted pendulum.
« Reply #3 on: March 16, 2023, 08:01:25 am »
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.
« Last Edit: March 16, 2023, 08:05:14 am by BrianHG »
 

Offline Infraviolet

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Re: Super Sick - 56 transition controls for a triple inverted pendulum.
« Reply #4 on: March 16, 2023, 09:40:48 pm »
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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