gyro
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Posts: 46,084
I want to build a 2-wheel self balancing robot with the tab sumo bot kit that
has a built in bs2. Does anybody know of a cheap gyro to use and any links to
other pages that pertain to balancing robots.
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[noparse][[/noparse]Non-text portions of this message have been removed]
has a built in bs2. Does anybody know of a cheap gyro to use and any links to
other pages that pertain to balancing robots.
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Yahoo! SiteBuilder - Free web site building tool. Try it!
[noparse][[/noparse]Non-text portions of this message have been removed]
Comments
Devices ( www.analog.com ). These IC's are the most compact i've found, and
are well under $50 a piece; however, the pin configuration is a bit
cumbersome for one-off applications. If you don't want to bother with
making your own interface circuit, you might want to look at some of the RC
helicopter gyros. Perhaps try www.towerhobbies.com or something similar.
Regards,
Christian Wentz
>From: Kyle Cooper <crazykurby@y...>
>Reply-To: basicstamps@yahoogroups.com
>To: basicstamps@yahoogroups.com
>Subject: [noparse][[/noparse]basicstamps] gyro
>Date: Tue, 3 Feb 2004 18:15:55 -0800 (PST)
>
>I want to build a 2-wheel self balancing robot with the tab sumo bot kit
>that has a built in bs2. Does anybody know of a cheap gyro to use and any
>links to other pages that pertain to balancing robots.
>
>
>
>Do you Yahoo!?
>Yahoo! SiteBuilder - Free web site building tool. Try it!
>
>[noparse][[/noparse]Non-text portions of this message have been removed]
>
>
>To UNSUBSCRIBE, just send mail to:
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Christian Wentz <cwentz86@h...> wrote:I've had good results using the
iMEMS angular rate sensors from Analog
Devices ( www.analog.com ). These IC's are the most compact i've found, and
are well under $50 a piece; however, the pin configuration is a bit
cumbersome for one-off applications. If you don't want to bother with
making your own interface circuit, you might want to look at some of the RC
helicopter gyros. Perhaps try www.towerhobbies.com or something similar.
Regards,
Christian Wentz
>From: Kyle Cooper
>Reply-To: basicstamps@yahoogroups.com
>To: basicstamps@yahoogroups.com
>Subject: [noparse][[/noparse]basicstamps] gyro
>Date: Tue, 3 Feb 2004 18:15:55 -0800 (PST)
>
>I want to build a 2-wheel self balancing robot with the tab sumo bot kit
>that has a built in bs2. Does anybody know of a cheap gyro to use and any
>links to other pages that pertain to balancing robots.
>
>
>
>Do you Yahoo!?
>Yahoo! SiteBuilder - Free web site building tool. Try it!
>
>[noparse][[/noparse]Non-text portions of this message have been removed]
>
>
>To UNSUBSCRIBE, just send mail to:
> basicstamps-unsubscribe@yahoogroups.com
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>
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>
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[noparse][[/noparse]Non-text portions of this message have been removed]
http://www.dprg.org/projects/2003-01a/
It has links to some other balancing robots as well.
Original Message
From: Kyle Cooper [noparse]/noparse]mailto:[url=http://forums.parallaxinc.com/group/basicstamps/post?postID=rmUE7X-TLyCicgB1Meyzevh2fO7clNCDx8DeiO_hNNZZDYlwIKzPIZRBbzU5UgzUIl5pHDuqvFd3sA]crazykurby@y...[/url
Sent: Tuesday, February 03, 2004 8:16 PM
To: basicstamps@yahoogroups.com
Subject: [noparse][[/noparse]basicstamps] gyro
I want to build a 2-wheel self balancing robot with the tab sumo bot kit
that has a built in bs2. Does anybody know of a cheap gyro to use and
any links to other pages that pertain to balancing robots.
Do you Yahoo!?
Yahoo! SiteBuilder - Free web site building tool. Try it!
[noparse][[/noparse]Non-text portions of this message have been removed]
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>I want to build a 2-wheel self balancing robot with the tab sumo bot kit
>that has a built in bs2. Does anybody know of a cheap gyro to use and any
>links to other pages that pertain to balancing robots.
Not a gyro, but cheap.... Use an old analog Joystick turned upside down
with a weight on the
joystick "stick". Monitor resistance changes from the X & Y pots on the
joystick to
determine its position and do what you need to do to compensate so that the
joystick
values maintain center.
If you just want your 2-wheel robot to "up-right" itself automatically,
simply move the
center of gravity below BOTH of the wheel axis. Sort of like a
weeble-wobble ...or
in my opinion not to far off from the self balancing act of a Segway
(another topic).
-Beau Schwabe
be more jagged and jerk more. I will probably try that but i am looking at a
single axis piezo gyro around $40 dollars according to a site that was suggested
on here.
Beau Schwabe <bschwabe@a...> wrote:At 06:15 PM 2/3/04 -0800, you
wrote:
>I want to build a 2-wheel self balancing robot with the tab sumo bot kit
>that has a built in bs2. Does anybody know of a cheap gyro to use and any
>links to other pages that pertain to balancing robots.
Not a gyro, but cheap.... Use an old analog Joystick turned upside down
with a weight on the
joystick "stick". Monitor resistance changes from the X & Y pots on the
joystick to
determine its position and do what you need to do to compensate so that the
joystick
values maintain center.
If you just want your 2-wheel robot to "up-right" itself automatically,
simply move the
center of gravity below BOTH of the wheel axis. Sort of like a
weeble-wobble ...or
in my opinion not to far off from the self balancing act of a Segway
(another topic).
-Beau Schwabe
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[noparse][[/noparse]Non-text portions of this message have been removed]
IR measuring sensors instead of a gyro to balance. What would work better a gyro
or two IR measuring sensors. Thanks everyone for all of your responses.
Kyle Cooper <crazykurby@y...> wrote:thanks, I was thinking about that
earlier today but i think the movement would be more jagged and jerk more. I
will probably try that but i am looking at a single axis piezo gyro around $40
dollars according to a site that was suggested on here.
Beau Schwabe wrote:At 06:15 PM 2/3/04 -0800, you wrote:
>I want to build a 2-wheel self balancing robot with the tab sumo bot kit
>that has a built in bs2. Does anybody know of a cheap gyro to use and any
>links to other pages that pertain to balancing robots.
Not a gyro, but cheap.... Use an old analog Joystick turned upside down
with a weight on the
joystick "stick". Monitor resistance changes from the X & Y pots on the
joystick to
determine its position and do what you need to do to compensate so that the
joystick
values maintain center.
If you just want your 2-wheel robot to "up-right" itself automatically,
simply move the
center of gravity below BOTH of the wheel axis. Sort of like a
weeble-wobble ...or
in my opinion not to far off from the self balancing act of a Segway
(another topic).
-Beau Schwabe
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[noparse][[/noparse]Non-text portions of this message have been removed]
But it fails if you have to go up or down an incline or over bumps or
ridges or slots (like the expansion joints on a concrete sidewalk).
Plus it fails if you add an off balance weight or object to the robot.
For example a small arm extending and picking up something and then
retracting again.
But using the IR sensors make for a lot of fun still, it allows you to
work out a lot of the basics and get your motor control and balancing
algorithims going good. Then you can extend it by adding gyros,
accelerometers or some other method later.
Original Message
From: Kyle Cooper [noparse]/noparse]mailto:[url=http://forums.parallaxinc.com/group/basicstamps/post?postID=0ksHb6n0pAv5pnBbubn9rIo10lGHniKUDdSEZoLEeL3s4xrhHIwzhqx0dYrHoFj_FbuGkA0RdaFQIw]crazykurby@y...[/url
Sent: Wednesday, February 04, 2004 9:40 PM
To: basicstamps@yahoogroups.com
Subject: Re: [noparse][[/noparse]basicstamps] gyro
I was looking at more homebuilt two wheeled robots. One of the robots
used two IR measuring sensors instead of a gyro to balance. What would
work better a gyro or two IR measuring sensors. Thanks everyone for all
of your responses.
Kyle Cooper <crazykurby@y...> wrote:thanks, I was thinking about
that earlier today but i think the movement would be more jagged and
jerk more. I will probably try that but i am looking at a single axis
piezo gyro around $40 dollars according to a site that was suggested on
here.
Beau Schwabe wrote:At 06:15 PM 2/3/04 -0800, you wrote:
>I want to build a 2-wheel self balancing robot with the tab sumo bot
kit
>that has a built in bs2. Does anybody know of a cheap gyro to use and
any
>links to other pages that pertain to balancing robots.
Not a gyro, but cheap.... Use an old analog Joystick turned upside down
with a weight on the
joystick "stick". Monitor resistance changes from the X & Y pots on the
joystick to
determine its position and do what you need to do to compensate so that
the
joystick
values maintain center.
If you just want your 2-wheel robot to "up-right" itself automatically,
simply move the
center of gravity below BOTH of the wheel axis. Sort of like a
weeble-wobble ...or
in my opinion not to far off from the self balancing act of a Segway
(another topic).
-Beau Schwabe
To UNSUBSCRIBE, just send mail to:
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I think ill go with a piezo gyro.
Earl Bollinger <earlwbollinger@c...> wrote:The IR sensor method works OK
on a level surface.
But it fails if you have to go up or down an incline or over bumps or
ridges or slots (like the expansion joints on a concrete sidewalk).
Plus it fails if you add an off balance weight or object to the robot.
For example a small arm extending and picking up something and then
retracting again.
But using the IR sensors make for a lot of fun still, it allows you to
work out a lot of the basics and get your motor control and balancing
algorithims going good. Then you can extend it by adding gyros,
accelerometers or some other method later.
Original Message
From: Kyle Cooper [noparse]/noparse]mailto:[url=http://forums.parallaxinc.com/group/basicstamps/post?postID=hGToTfvTiu8nuBOUUILlEMp2ShYC2MSUEgRSAUqPFT2tSBswXzRasLp-F6rr267f-x_-z7JgMCaHEA]crazykurby@y...[/url
Sent: Wednesday, February 04, 2004 9:40 PM
To: basicstamps@yahoogroups.com
Subject: Re: [noparse][[/noparse]basicstamps] gyro
I was looking at more homebuilt two wheeled robots. One of the robots
used two IR measuring sensors instead of a gyro to balance. What would
work better a gyro or two IR measuring sensors. Thanks everyone for all
of your responses.
Kyle Cooper wrote:thanks, I was thinking about
that earlier today but i think the movement would be more jagged and
jerk more. I will probably try that but i am looking at a single axis
piezo gyro around $40 dollars according to a site that was suggested on
here.
Beau Schwabe wrote:At 06:15 PM 2/3/04 -0800, you wrote:
>I want to build a 2-wheel self balancing robot with the tab sumo bot
kit
>that has a built in bs2. Does anybody know of a cheap gyro to use and
any
>links to other pages that pertain to balancing robots.
Not a gyro, but cheap.... Use an old analog Joystick turned upside down
with a weight on the
joystick "stick". Monitor resistance changes from the X & Y pots on the
joystick to
determine its position and do what you need to do to compensate so that
the
joystick
values maintain center.
If you just want your 2-wheel robot to "up-right" itself automatically,
simply move the
center of gravity below BOTH of the wheel axis. Sort of like a
weeble-wobble ...or
in my opinion not to far off from the self balancing act of a Segway
(another topic).
-Beau Schwabe
To UNSUBSCRIBE, just send mail to:
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[noparse][[/noparse]Non-text portions of this message have been removed]
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[noparse][[/noparse]Non-text portions of this message have been removed]
rotational axis. You need to stabilize both the roll (side to side) and
pitch (forward-backward) motion, for the same reasons that Earl stated
-- bumps or slots can lead to falls in either direction.
Note that humans use 3 angular and 2 linear sensors to help stabilize
during bipedal standing and walking, plus additional information from
vision and touch. Stable walking can be done with robots too, but it
becomes complicated. A Carnegie Mellon robotics lab developed a monopod
(pogo stick) robot that hopped stably on one foot.
Dennis
WSR, Inc. (www.4wsr.com)
Pasadena CA
Original Message
From: Kyle Cooper [noparse]/noparse]mailto:[url=http://forums.parallaxinc.com/group/basicstamps/post?postID=gy9A73QhP8v7esCyihhzeDoRwtHo3N8DylYsaWdIkUOZMXtbT9nZrAuHZsgRq2MUkoPM423K94cPV_J5vg]crazykurby@y...[/url
Sent: Thursday, February 05, 2004 5:16 AM
To: basicstamps@yahoogroups.com
Subject: RE: [noparse][[/noparse]basicstamps] gyro
Thanks for the advice. I didnt think about inclines and bumps. With this
in mind I think ill go with a piezo gyro.
Earl Bollinger <earlwbollinger@c...> wrote:The IR sensor method
works OK on a level surface.
But it fails if you have to go up or down an incline or over bumps or
ridges or slots (like the expansion joints on a concrete sidewalk). Plus
it fails if you add an off balance weight or object to the robot. For
example a small arm extending and picking up something and then
retracting again.
But using the IR sensors make for a lot of fun still, it allows you to
work out a lot of the basics and get your motor control and balancing
algorithims going good. Then you can extend it by adding gyros,
accelerometers or some other method later.
Original Message
From: Kyle Cooper [noparse]/noparse]mailto:[url=http://forums.parallaxinc.com/group/basicstamps/post?postID=gy9A73QhP8v7esCyihhzeDoRwtHo3N8DylYsaWdIkUOZMXtbT9nZrAuHZsgRq2MUkoPM423K94cPV_J5vg]crazykurby@y...[/url
Sent: Wednesday, February 04, 2004 9:40 PM
To: basicstamps@yahoogroups.com
Subject: Re: [noparse][[/noparse]basicstamps] gyro
I was looking at more homebuilt two wheeled robots. One of the robots
used two IR measuring sensors instead of a gyro to balance. What would
work better a gyro or two IR measuring sensors. Thanks everyone for all
of your responses.
Kyle Cooper wrote:thanks, I was thinking about
that earlier today but i think the movement would be more jagged and
jerk more. I will probably try that but i am looking at a single axis
piezo gyro around $40 dollars according to a site that was suggested on
here.
Beau Schwabe wrote:At 06:15 PM 2/3/04 -0800, you wrote:
>I want to build a 2-wheel self balancing robot with the tab sumo bot
kit
>that has a built in bs2. Does anybody know of a cheap gyro to use and
any
>links to other pages that pertain to balancing robots.
Not a gyro, but cheap.... Use an old analog Joystick turned upside down
with a weight on the
joystick "stick". Monitor resistance changes from the X & Y pots on the
joystick to
determine its position and do what you need to do to compensate so that
the
joystick
values maintain center.
If you just want your 2-wheel robot to "up-right" itself automatically,
simply move the
center of gravity below BOTH of the wheel axis. Sort of like a
weeble-wobble ...or
in my opinion not to far off from the self balancing act of a Segway
(another topic).
-Beau Schwabe
To UNSUBSCRIBE, just send mail to:
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Do you Yahoo!?
Yahoo! SiteBuilder - Free web site building tool. Try it!
[noparse][[/noparse]Non-text portions of this message have been removed]
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between the wheels. I figured i could get away with 1 gyro to take care of it
either falling forward or backward. I thought one gyro would work as long as its
not too top heavy.
Dennis O'Leary <doleary@e...> wrote:You will probably need 2 gyros,
since each is sensitive about only one
rotational axis. You need to stabilize both the roll (side to side) and
pitch (forward-backward) motion, for the same reasons that Earl stated
-- bumps or slots can lead to falls in either direction.
Note that humans use 3 angular and 2 linear sensors to help stabilize
during bipedal standing and walking, plus additional information from
vision and touch. Stable walking can be done with robots too, but it
becomes complicated. A Carnegie Mellon robotics lab developed a monopod
(pogo stick) robot that hopped stably on one foot.
Dennis
WSR, Inc. (www.4wsr.com)
Pasadena CA
Original Message
From: Kyle Cooper [noparse]/noparse]mailto:[url=http://forums.parallaxinc.com/group/basicstamps/post?postID=J1LtkKuIxEgGmXvmkb0vS8QzXPAnyHKekYwoSzln4bIy3euJtgvRPK0_B9qkMX58B8XEIjdSsLG_De1B]crazykurby@y...[/url
Sent: Thursday, February 05, 2004 5:16 AM
To: basicstamps@yahoogroups.com
Subject: RE: [noparse][[/noparse]basicstamps] gyro
Thanks for the advice. I didnt think about inclines and bumps. With this
in mind I think ill go with a piezo gyro.
Earl Bollinger wrote:The IR sensor method
works OK on a level surface.
But it fails if you have to go up or down an incline or over bumps or
ridges or slots (like the expansion joints on a concrete sidewalk). Plus
it fails if you add an off balance weight or object to the robot. For
example a small arm extending and picking up something and then
retracting again.
But using the IR sensors make for a lot of fun still, it allows you to
work out a lot of the basics and get your motor control and balancing
algorithims going good. Then you can extend it by adding gyros,
accelerometers or some other method later.
Original Message
From: Kyle Cooper [noparse]/noparse]mailto:[url=http://forums.parallaxinc.com/group/basicstamps/post?postID=J1LtkKuIxEgGmXvmkb0vS8QzXPAnyHKekYwoSzln4bIy3euJtgvRPK0_B9qkMX58B8XEIjdSsLG_De1B]crazykurby@y...[/url
Sent: Wednesday, February 04, 2004 9:40 PM
To: basicstamps@yahoogroups.com
Subject: Re: [noparse][[/noparse]basicstamps] gyro
I was looking at more homebuilt two wheeled robots. One of the robots
used two IR measuring sensors instead of a gyro to balance. What would
work better a gyro or two IR measuring sensors. Thanks everyone for all
of your responses.
Kyle Cooper wrote:thanks, I was thinking about
that earlier today but i think the movement would be more jagged and
jerk more. I will probably try that but i am looking at a single axis
piezo gyro around $40 dollars according to a site that was suggested on
here.
Beau Schwabe wrote:At 06:15 PM 2/3/04 -0800, you wrote:
>I want to build a 2-wheel self balancing robot with the tab sumo bot
kit
>that has a built in bs2. Does anybody know of a cheap gyro to use and
any
>links to other pages that pertain to balancing robots.
Not a gyro, but cheap.... Use an old analog Joystick turned upside down
with a weight on the
joystick "stick". Monitor resistance changes from the X & Y pots on the
joystick to
determine its position and do what you need to do to compensate so that
the
joystick
values maintain center.
If you just want your 2-wheel robot to "up-right" itself automatically,
simply move the
center of gravity below BOTH of the wheel axis. Sort of like a
weeble-wobble ...or
in my opinion not to far off from the self balancing act of a Segway
(another topic).
-Beau Schwabe
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[noparse][[/noparse]Non-text portions of this message have been removed]
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[noparse][[/noparse]Non-text portions of this message have been removed]
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[noparse][[/noparse]Non-text portions of this message have been removed]
(for the forward and aft axis), and a accelerometer (to tell where upor
vertical is). You basically use the accelerometer to get the up
reference point and to tell if your off. The gyro is used for the fast
rate changes as the robot tilts. It's possible to use the accelerometer
for both, but it tends to be slow thus the gyro does this much better.
The problem is the gyro only tells you when there is a change, it
doesn't tell you how much your tilted one way or the other.
Of course if your doing a mono-bot and not a di-bot then you do need two
gyros for the x and y axis and also to use both the x and y axis on a
accellerometer as well.
The accelerometers are pretty neat, they always know where up is. You
can tilt the robot, then power it on and the accelerometer chip will
tell you it's tilted and how much. A gyro won't tell you it's tilted at
all. But if you move the robot slightly the gyro will suddenly notice
the change.
Original Message
From: Kyle Cooper [noparse]/noparse]mailto:[url=http://forums.parallaxinc.com/group/basicstamps/post?postID=mfxudhokuXuWCspLNQI7hzwA9-0hA6CwgNgS53bWlZ6Au294FU1ouMtStMfjYK_kXmIwuQPiyc3nsZmI]crazykurby@y...[/url
Sent: Thursday, February 05, 2004 6:26 PM
To: basicstamps@yahoogroups.com
Subject: RE: [noparse][[/noparse]basicstamps] gyro
Your probably right, I thought i could get away with one if i had a wide
base between the wheels. I figured i could get away with 1 gyro to take
care of it either falling forward or backward. I thought one gyro would
work as long as its not too top heavy.
Dennis O'Leary <doleary@e...> wrote:You will probably need 2
gyros, since each is sensitive about only one
rotational axis. You need to stabilize both the roll (side to side) and
pitch (forward-backward) motion, for the same reasons that Earl stated
-- bumps or slots can lead to falls in either direction.
Note that humans use 3 angular and 2 linear sensors to help stabilize
during bipedal standing and walking, plus additional information from
vision and touch. Stable walking can be done with robots too, but it
becomes complicated. A Carnegie Mellon robotics lab developed a monopod
(pogo stick) robot that hopped stably on one foot.
Dennis
WSR, Inc. (www.4wsr.com)
Pasadena CA
Original Message
From: Kyle Cooper [noparse]/noparse]mailto:[url=http://forums.parallaxinc.com/group/basicstamps/post?postID=mfxudhokuXuWCspLNQI7hzwA9-0hA6CwgNgS53bWlZ6Au294FU1ouMtStMfjYK_kXmIwuQPiyc3nsZmI]crazykurby@y...[/url
Sent: Thursday, February 05, 2004 5:16 AM
To: basicstamps@yahoogroups.com
Subject: RE: [noparse][[/noparse]basicstamps] gyro
Thanks for the advice. I didnt think about inclines and bumps. With this
in mind I think ill go with a piezo gyro.
Earl Bollinger wrote:The IR sensor method
works OK on a level surface.
But it fails if you have to go up or down an incline or over bumps or
ridges or slots (like the expansion joints on a concrete sidewalk). Plus
it fails if you add an off balance weight or object to the robot. For
example a small arm extending and picking up something and then
retracting again.
But using the IR sensors make for a lot of fun still, it allows you to
work out a lot of the basics and get your motor control and balancing
algorithims going good. Then you can extend it by adding gyros,
accelerometers or some other method later.
Original Message
From: Kyle Cooper [noparse]/noparse]mailto:[url=http://forums.parallaxinc.com/group/basicstamps/post?postID=mfxudhokuXuWCspLNQI7hzwA9-0hA6CwgNgS53bWlZ6Au294FU1ouMtStMfjYK_kXmIwuQPiyc3nsZmI]crazykurby@y...[/url
Sent: Wednesday, February 04, 2004 9:40 PM
To: basicstamps@yahoogroups.com
Subject: Re: [noparse][[/noparse]basicstamps] gyro
I was looking at more homebuilt two wheeled robots. One of the robots
used two IR measuring sensors instead of a gyro to balance. What would
work better a gyro or two IR measuring sensors. Thanks everyone for all
of your responses.
Kyle Cooper wrote:thanks, I was thinking about
that earlier today but i think the movement would be more jagged and
jerk more. I will probably try that but i am looking at a single axis
piezo gyro around $40 dollars according to a site that was suggested on
here.
Beau Schwabe wrote:At 06:15 PM 2/3/04 -0800, you wrote:
>I want to build a 2-wheel self balancing robot with the tab sumo bot
kit
>that has a built in bs2. Does anybody know of a cheap gyro to use and
any
>links to other pages that pertain to balancing robots.
Not a gyro, but cheap.... Use an old analog Joystick turned upside down
with a weight on the
joystick "stick". Monitor resistance changes from the X & Y pots on the
joystick to
determine its position and do what you need to do to compensate so that
the
joystick
values maintain center.
If you just want your 2-wheel robot to "up-right" itself automatically,
simply move the
center of gravity below BOTH of the wheel axis. Sort of like a
weeble-wobble ...or
in my opinion not to far off from the self balancing act of a Segway
(another topic).
-Beau Schwabe
To UNSUBSCRIBE, just send mail to:
basicstamps-unsubscribe@yahoogroups.com
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Do you Yahoo!?
Yahoo! SiteBuilder - Free web site building tool. Try it!
[noparse][[/noparse]Non-text portions of this message have been removed]
To UNSUBSCRIBE, just send mail to:
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Do you Yahoo!?
Yahoo! Finance: Get your refund fast by filing online
[noparse][[/noparse]Non-text portions of this message have been removed]
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[noparse][[/noparse]Non-text portions of this message have been removed]
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[noparse][[/noparse]Non-text portions of this message have been removed]
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robot balance on flat surfaces only or go for the accelerometer and gyro.
Earl Bollinger <earlwbollinger@c...> wrote:Actually for a regular two
wheel balancing robot you only need one gyro
(for the forward and aft axis), and a accelerometer (to tell where upor
vertical is). You basically use the accelerometer to get the up
reference point and to tell if your off. The gyro is used for the fast
rate changes as the robot tilts. It's possible to use the accelerometer
for both, but it tends to be slow thus the gyro does this much better.
The problem is the gyro only tells you when there is a change, it
doesn't tell you how much your tilted one way or the other.
Of course if your doing a mono-bot and not a di-bot then you do need two
gyros for the x and y axis and also to use both the x and y axis on a
accellerometer as well.
The accelerometers are pretty neat, they always know where up is. You
can tilt the robot, then power it on and the accelerometer chip will
tell you it's tilted and how much. A gyro won't tell you it's tilted at
all. But if you move the robot slightly the gyro will suddenly notice
the change.
Original Message
From: Kyle Cooper [noparse]/noparse]mailto:[url=http://forums.parallaxinc.com/group/basicstamps/post?postID=BTn5ZPeQgOkQBdpM0BSM1LVwNMmh27anMD0kK7btwimr-qazrd8iMzEWtiUHaJeSp6yLZJUuKgSWkTPYDpw]crazykurby@y...[/url
Sent: Thursday, February 05, 2004 6:26 PM
To: basicstamps@yahoogroups.com
Subject: RE: [noparse][[/noparse]basicstamps] gyro
Your probably right, I thought i could get away with one if i had a wide
base between the wheels. I figured i could get away with 1 gyro to take
care of it either falling forward or backward. I thought one gyro would
work as long as its not too top heavy.
Dennis O'Leary wrote:You will probably need 2
gyros, since each is sensitive about only one
rotational axis. You need to stabilize both the roll (side to side) and
pitch (forward-backward) motion, for the same reasons that Earl stated
-- bumps or slots can lead to falls in either direction.
Note that humans use 3 angular and 2 linear sensors to help stabilize
during bipedal standing and walking, plus additional information from
vision and touch. Stable walking can be done with robots too, but it
becomes complicated. A Carnegie Mellon robotics lab developed a monopod
(pogo stick) robot that hopped stably on one foot.
Dennis
WSR, Inc. (www.4wsr.com)
Pasadena CA
Original Message
From: Kyle Cooper [noparse]/noparse]mailto:[url=http://forums.parallaxinc.com/group/basicstamps/post?postID=BTn5ZPeQgOkQBdpM0BSM1LVwNMmh27anMD0kK7btwimr-qazrd8iMzEWtiUHaJeSp6yLZJUuKgSWkTPYDpw]crazykurby@y...[/url
Sent: Thursday, February 05, 2004 5:16 AM
To: basicstamps@yahoogroups.com
Subject: RE: [noparse][[/noparse]basicstamps] gyro
Thanks for the advice. I didnt think about inclines and bumps. With this
in mind I think ill go with a piezo gyro.
Earl Bollinger wrote:The IR sensor method
works OK on a level surface.
But it fails if you have to go up or down an incline or over bumps or
ridges or slots (like the expansion joints on a concrete sidewalk). Plus
it fails if you add an off balance weight or object to the robot. For
example a small arm extending and picking up something and then
retracting again.
But using the IR sensors make for a lot of fun still, it allows you to
work out a lot of the basics and get your motor control and balancing
algorithims going good. Then you can extend it by adding gyros,
accelerometers or some other method later.
Original Message
From: Kyle Cooper [noparse]/noparse]mailto:[url=http://forums.parallaxinc.com/group/basicstamps/post?postID=BTn5ZPeQgOkQBdpM0BSM1LVwNMmh27anMD0kK7btwimr-qazrd8iMzEWtiUHaJeSp6yLZJUuKgSWkTPYDpw]crazykurby@y...[/url
Sent: Wednesday, February 04, 2004 9:40 PM
To: basicstamps@yahoogroups.com
Subject: Re: [noparse][[/noparse]basicstamps] gyro
I was looking at more homebuilt two wheeled robots. One of the robots
used two IR measuring sensors instead of a gyro to balance. What would
work better a gyro or two IR measuring sensors. Thanks everyone for all
of your responses.
Kyle Cooper wrote:thanks, I was thinking about
that earlier today but i think the movement would be more jagged and
jerk more. I will probably try that but i am looking at a single axis
piezo gyro around $40 dollars according to a site that was suggested on
here.
Beau Schwabe wrote:At 06:15 PM 2/3/04 -0800, you wrote:
>I want to build a 2-wheel self balancing robot with the tab sumo bot
kit
>that has a built in bs2. Does anybody know of a cheap gyro to use and
any
>links to other pages that pertain to balancing robots.
Not a gyro, but cheap.... Use an old analog Joystick turned upside down
with a weight on the
joystick "stick". Monitor resistance changes from the X & Y pots on the
joystick to
determine its position and do what you need to do to compensate so that
the
joystick
values maintain center.
If you just want your 2-wheel robot to "up-right" itself automatically,
simply move the
center of gravity below BOTH of the wheel axis. Sort of like a
weeble-wobble ...or
in my opinion not to far off from the self balancing act of a Segway
(another topic).
-Beau Schwabe
To UNSUBSCRIBE, just send mail to:
basicstamps-unsubscribe@yahoogroups.com
from the same email address that you subscribed. Text in the Subject and
Body of the message will be ignored.
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To visit your group on the web, go to:
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To unsubscribe from this group, send an email to:
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Your use of Yahoo! Groups is subject to:
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Do you Yahoo!?
Yahoo! SiteBuilder - Free web site building tool. Try it!
[noparse][[/noparse]Non-text portions of this message have been removed]
To UNSUBSCRIBE, just send mail to:
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Do you Yahoo!?
Yahoo! Finance: Get your refund fast by filing online
[noparse][[/noparse]Non-text portions of this message have been removed]
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[noparse][[/noparse]Non-text portions of this message have been removed]
To UNSUBSCRIBE, just send mail to:
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from the same email address that you subscribed. Text in the Subject
and Body of the message will be ignored.
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[noparse][[/noparse]Non-text portions of this message have been removed]
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from the same email address that you subscribed. Text in the Subject
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[noparse][[/noparse]Non-text portions of this message have been removed]
IR sensors to work first.
Then you have much of the algorithims or methods worked out.
Next you improve it. [noparse]:)[/noparse]
Original Message
From: Kyle Cooper [noparse]/noparse]mailto:[url=http://forums.parallaxinc.com/group/basicstamps/post?postID=pZlCRuPccHkI1JVXZfNmhvO2qgSrR-d2UahVujjWaFZoOPRRgS4_X3QgHUQ1p_aSl8rLkQCsLLuyqbU]crazykurby@y...[/url
Sent: Friday, February 06, 2004 4:15 PM
To: basicstamps@yahoogroups.com
Subject: RE: [noparse][[/noparse]basicstamps] gyro
With this info and my lack of experience should i use IR sensors and
have the robot balance on flat surfaces only or go for the accelerometer
and gyro.
Earl Bollinger <earlwbollinger@c...> wrote:Actually for a regular
two wheel balancing robot you only need one gyro
(for the forward and aft axis), and a accelerometer (to tell where upor
vertical is). You basically use the accelerometer to get the up
reference point and to tell if your off. The gyro is used for the fast
rate changes as the robot tilts. It's possible to use the accelerometer
for both, but it tends to be slow thus the gyro does this much better.
The problem is the gyro only tells you when there is a change, it
doesn't tell you how much your tilted one way or the other.
Of course if your doing a mono-bot and not a di-bot then you do need two
gyros for the x and y axis and also to use both the x and y axis on a
accellerometer as well.
The accelerometers are pretty neat, they always know where up is. You
can tilt the robot, then power it on and the accelerometer chip will
tell you it's tilted and how much. A gyro won't tell you it's tilted at
all. But if you move the robot slightly the gyro will suddenly notice
the change.
Original Message
From: Kyle Cooper [noparse]/noparse]mailto:[url=http://forums.parallaxinc.com/group/basicstamps/post?postID=pZlCRuPccHkI1JVXZfNmhvO2qgSrR-d2UahVujjWaFZoOPRRgS4_X3QgHUQ1p_aSl8rLkQCsLLuyqbU]crazykurby@y...[/url
Sent: Thursday, February 05, 2004 6:26 PM
To: basicstamps@yahoogroups.com
Subject: RE: [noparse][[/noparse]basicstamps] gyro
Your probably right, I thought i could get away with one if i had a wide
base between the wheels. I figured i could get away with 1 gyro to take
care of it either falling forward or backward. I thought one gyro would
work as long as its not too top heavy.
Dennis O'Leary wrote:You will probably need 2
gyros, since each is sensitive about only one
rotational axis. You need to stabilize both the roll (side to side) and
pitch (forward-backward) motion, for the same reasons that Earl stated
-- bumps or slots can lead to falls in either direction.
Note that humans use 3 angular and 2 linear sensors to help stabilize
during bipedal standing and walking, plus additional information from
vision and touch. Stable walking can be done with robots too, but it
becomes complicated. A Carnegie Mellon robotics lab developed a monopod
(pogo stick) robot that hopped stably on one foot.
Dennis
WSR, Inc. (www.4wsr.com)
Pasadena CA
Original Message
From: Kyle Cooper [noparse]/noparse]mailto:[url=http://forums.parallaxinc.com/group/basicstamps/post?postID=pZlCRuPccHkI1JVXZfNmhvO2qgSrR-d2UahVujjWaFZoOPRRgS4_X3QgHUQ1p_aSl8rLkQCsLLuyqbU]crazykurby@y...[/url
Sent: Thursday, February 05, 2004 5:16 AM
To: basicstamps@yahoogroups.com
Subject: RE: [noparse][[/noparse]basicstamps] gyro
Thanks for the advice. I didnt think about inclines and bumps. With this
in mind I think ill go with a piezo gyro.
Earl Bollinger wrote:The IR sensor method
works OK on a level surface.
But it fails if you have to go up or down an incline or over bumps or
ridges or slots (like the expansion joints on a concrete sidewalk). Plus
it fails if you add an off balance weight or object to the robot. For
example a small arm extending and picking up something and then
retracting again.
But using the IR sensors make for a lot of fun still, it allows you to
work out a lot of the basics and get your motor control and balancing
algorithims going good. Then you can extend it by adding gyros,
accelerometers or some other method later.
Original Message
From: Kyle Cooper [noparse]/noparse]mailto:[url=http://forums.parallaxinc.com/group/basicstamps/post?postID=pZlCRuPccHkI1JVXZfNmhvO2qgSrR-d2UahVujjWaFZoOPRRgS4_X3QgHUQ1p_aSl8rLkQCsLLuyqbU]crazykurby@y...[/url
Sent: Wednesday, February 04, 2004 9:40 PM
To: basicstamps@yahoogroups.com
Subject: Re: [noparse][[/noparse]basicstamps] gyro
I was looking at more homebuilt two wheeled robots. One of the robots
used two IR measuring sensors instead of a gyro to balance. What would
work better a gyro or two IR measuring sensors. Thanks everyone for all
of your responses.
Kyle Cooper wrote:thanks, I was thinking about
that earlier today but i think the movement would be more jagged and
jerk more. I will probably try that but i am looking at a single axis
piezo gyro around $40 dollars according to a site that was suggested on
here.
Beau Schwabe wrote:At 06:15 PM 2/3/04 -0800, you wrote:
>I want to build a 2-wheel self balancing robot with the tab sumo bot
kit
>that has a built in bs2. Does anybody know of a cheap gyro to use and
any
>links to other pages that pertain to balancing robots.
Not a gyro, but cheap.... Use an old analog Joystick turned upside down
with a weight on the
joystick "stick". Monitor resistance changes from the X & Y pots on the
joystick to
determine its position and do what you need to do to compensate so that
the
joystick
values maintain center.
If you just want your 2-wheel robot to "up-right" itself automatically,
simply move the
center of gravity below BOTH of the wheel axis. Sort of like a
weeble-wobble ...or
in my opinion not to far off from the self balancing act of a Segway
(another topic).
-Beau Schwabe
To UNSUBSCRIBE, just send mail to:
basicstamps-unsubscribe@yahoogroups.com
from the same email address that you subscribed. Text in the Subject and
Body of the message will be ignored.
Yahoo! Groups Links
To visit your group on the web, go to:
http://groups.yahoo.com/group/basicstamps/
To unsubscribe from this group, send an email to:
basicstamps-unsubscribe@yahoogroups.com
Your use of Yahoo! Groups is subject to:
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programming worked out. Thanks for everyone's help, I'm sure I'll be posting
messages for help with the programming. Thanks again for the large amount of
responses and advice.
Earl Bollinger <earlwbollinger@c...> wrote:I think you might have a
trememndous amount of fun and challenge getting
IR sensors to work first.
Then you have much of the algorithims or methods worked out.
Next you improve it. [noparse]:)[/noparse]
Original Message
From: Kyle Cooper [noparse]/noparse]mailto:[url=http://forums.parallaxinc.com/group/basicstamps/post?postID=AIFnx3oqQ6wJeOg310troJjwTlAQEEeVYuO2Sa_EFEOG5Buf6IJckG5mkqnSBlq3U2eqDPPXGMjFUg]crazykurby@y...[/url
Sent: Friday, February 06, 2004 4:15 PM
To: basicstamps@yahoogroups.com
Subject: RE: [noparse][[/noparse]basicstamps] gyro
With this info and my lack of experience should i use IR sensors and
have the robot balance on flat surfaces only or go for the accelerometer
and gyro.
Earl Bollinger wrote:Actually for a regular
two wheel balancing robot you only need one gyro
(for the forward and aft axis), and a accelerometer (to tell where upor
vertical is). You basically use the accelerometer to get the up
reference point and to tell if your off. The gyro is used for the fast
rate changes as the robot tilts. It's possible to use the accelerometer
for both, but it tends to be slow thus the gyro does this much better.
The problem is the gyro only tells you when there is a change, it
doesn't tell you how much your tilted one way or the other.
Of course if your doing a mono-bot and not a di-bot then you do need two
gyros for the x and y axis and also to use both the x and y axis on a
accellerometer as well.
The accelerometers are pretty neat, they always know where up is. You
can tilt the robot, then power it on and the accelerometer chip will
tell you it's tilted and how much. A gyro won't tell you it's tilted at
all. But if you move the robot slightly the gyro will suddenly notice
the change.
Original Message
From: Kyle Cooper [noparse]/noparse]mailto:[url=http://forums.parallaxinc.com/group/basicstamps/post?postID=AIFnx3oqQ6wJeOg310troJjwTlAQEEeVYuO2Sa_EFEOG5Buf6IJckG5mkqnSBlq3U2eqDPPXGMjFUg]crazykurby@y...[/url
Sent: Thursday, February 05, 2004 6:26 PM
To: basicstamps@yahoogroups.com
Subject: RE: [noparse][[/noparse]basicstamps] gyro
Your probably right, I thought i could get away with one if i had a wide
base between the wheels. I figured i could get away with 1 gyro to take
care of it either falling forward or backward. I thought one gyro would
work as long as its not too top heavy.
Dennis O'Leary wrote:You will probably need 2
gyros, since each is sensitive about only one
rotational axis. You need to stabilize both the roll (side to side) and
pitch (forward-backward) motion, for the same reasons that Earl stated
-- bumps or slots can lead to falls in either direction.
Note that humans use 3 angular and 2 linear sensors to help stabilize
during bipedal standing and walking, plus additional information from
vision and touch. Stable walking can be done with robots too, but it
becomes complicated. A Carnegie Mellon robotics lab developed a monopod
(pogo stick) robot that hopped stably on one foot.
Dennis
WSR, Inc. (www.4wsr.com)
Pasadena CA
Original Message
From: Kyle Cooper [noparse]/noparse]mailto:[url=http://forums.parallaxinc.com/group/basicstamps/post?postID=AIFnx3oqQ6wJeOg310troJjwTlAQEEeVYuO2Sa_EFEOG5Buf6IJckG5mkqnSBlq3U2eqDPPXGMjFUg]crazykurby@y...[/url
Sent: Thursday, February 05, 2004 5:16 AM
To: basicstamps@yahoogroups.com
Subject: RE: [noparse][[/noparse]basicstamps] gyro
Thanks for the advice. I didnt think about inclines and bumps. With this
in mind I think ill go with a piezo gyro.
Earl Bollinger wrote:The IR sensor method
works OK on a level surface.
But it fails if you have to go up or down an incline or over bumps or
ridges or slots (like the expansion joints on a concrete sidewalk). Plus
it fails if you add an off balance weight or object to the robot. For
example a small arm extending and picking up something and then
retracting again.
But using the IR sensors make for a lot of fun still, it allows you to
work out a lot of the basics and get your motor control and balancing
algorithims going good. Then you can extend it by adding gyros,
accelerometers or some other method later.
Original Message
From: Kyle Cooper [noparse]/noparse]mailto:[url=http://forums.parallaxinc.com/group/basicstamps/post?postID=AIFnx3oqQ6wJeOg310troJjwTlAQEEeVYuO2Sa_EFEOG5Buf6IJckG5mkqnSBlq3U2eqDPPXGMjFUg]crazykurby@y...[/url
Sent: Wednesday, February 04, 2004 9:40 PM
To: basicstamps@yahoogroups.com
Subject: Re: [noparse][[/noparse]basicstamps] gyro
I was looking at more homebuilt two wheeled robots. One of the robots
used two IR measuring sensors instead of a gyro to balance. What would
work better a gyro or two IR measuring sensors. Thanks everyone for all
of your responses.
Kyle Cooper wrote:thanks, I was thinking about
that earlier today but i think the movement would be more jagged and
jerk more. I will probably try that but i am looking at a single axis
piezo gyro around $40 dollars according to a site that was suggested on
here.
Beau Schwabe wrote:At 06:15 PM 2/3/04 -0800, you wrote:
>I want to build a 2-wheel self balancing robot with the tab sumo bot
kit
>that has a built in bs2. Does anybody know of a cheap gyro to use and
any
>links to other pages that pertain to balancing robots.
Not a gyro, but cheap.... Use an old analog Joystick turned upside down
with a weight on the
joystick "stick". Monitor resistance changes from the X & Y pots on the
joystick to
determine its position and do what you need to do to compensate so that
the
joystick
values maintain center.
If you just want your 2-wheel robot to "up-right" itself automatically,
simply move the
center of gravity below BOTH of the wheel axis. Sort of like a
weeble-wobble ...or
in my opinion not to far off from the self balancing act of a Segway
(another topic).
-Beau Schwabe
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