SL03a-21 Reaction Wheel Controlled Self-Balancing Robot

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QIU, Li(@eeqiu)
January 19, 2022 4:40 pm

This poster is very nicely designed. I wonder if you can explain the novelty of your robot compared to similar earlier robots designed in RI of HKUST and a group in ETH.

ZHAO, Xiaoqi(@xzhaobb)
January 19, 2022 5:00 pm
Reply to  QIU, Li

Thank you for your comment. My robot was inspired by the work published by M. Gajamohan et al. from ETH, with the focus on low-cost construction, to explore the possibility of reimplementing the Cubli robot using components with very different specifications. The original Cubli uses EC-45-flat brushless motors which are rather expensive, while my design is making use of generic brushed DC motors, with much lower cost and simpler control hardware. The frame of my design is made out of fiberglass plates, which is also less expensive than equivalent metal constructions used on the Cubli, at the same time reducing the overall weight of the robot thus lowering the actuation effort needed for balancing.

YOBAS, Levent(@eelyobas)
January 19, 2022 3:59 pm

why do you use a cube ? what are the applications?

ZHAO, Xiaoqi(@xzhaobb)
January 19, 2022 4:12 pm
Reply to  YOBAS, Levent

Thank you for your comment. The reason behind the cube shape of the testbed is that when a cube is balancing on its edge, it can mimic a 2D inverted pendulum with 1 degree of freedom, while when it is balancing on its corner, it can mimic a 3D inverted pendulum with 2 degrees of freedom. This design could combine both test cases into one single frame. For the application of reaction wheels, they can be used on humanoid and quadruped robots to increase their stability as these systems are unstable when they are standing up.

WONG, Kam Hung(@khwongbu)
January 19, 2022 2:40 pm

Good project

LAI, Chi Wan(@cwlaiaf)
January 19, 2022 2:43 pm
Reply to  WONG, Kam Hung


LEUNG, Hon Hang Benny(@hhbleung)
January 19, 2022 3:20 pm
Reply to  LAI, Chi Wan


Last edited 10 months ago by LEUNG, Hon Hang Benny
YAN, Kai Hang(@khyan)
January 19, 2022 3:20 pm


Last edited 10 months ago by YAN, Kai Hang