Ever see flying robots doing stuff that you never suspected flying robots could do? I have.
First, a state estimator was used to accurately predict the pendulum’s motion while in flight. Unlike the ball used in the group’s earlier demonstration of quadrocopter juggling, the pendulum’s drag properties depend on its orientation. This means, among other things, that a pendulum in free fall will move sideways if oriented at an angle. Since experiments showed that this effect was quite large for the pendulum used, an estimator including a drag model of the pendulum was developed.
This was important to accurately estimate the pendulum’s catching position.
Another task of the estimator was to determine when the pendulum was in free flight and when it was in contact with a quadrocopter. This was important to switch the quadrocopter’s behavior from hovering to balancing the pendulum.
Second, a fast trajectory generator was needed to quickly move the catching quadrocopter to the estimated catching position.
Third, a learning algorithm was implemented to correct for deviations from the theoretical models for two key events: A first correction term was learnt for the desired catching point of the pendulum. This allowed to capture systematic model errors of the throwing quadrocopter’s trajectory and the pendulum’s flight. A second correction term was learnt for the catching quadrocopter’s position. This allowed to capture systematic model errors of the catching quadrocopter’s rapid movement to the catching position.
Video: Throwing and catching an inverted pendulum – with quadrocopters | Robohub
Arnold Drake World is a talented paper artist who sits at a communal table at the cafe in Portland’s legendary Powell’s City of Books and turns paper napkins and towels into “botanically correct flowers” with many flourishes and grace-notes.
Naomi Klein (previously) is the author of several voraciously readable, hugely influential books about radical politics, most recently No is Not Enough, which calls for a positive vision for a different, better future, going beyond the idea of replacing Trump, May and other neoliberal leaders with slightly less neoliberal leaders who might be slightly better […]
Ricky from Inside the Magic writes, “The updated redhead/’wench’ auction scene in Disney’s Pirates of the Caribbean ride has debuted (along with a killer new Captain Barbossa animatronic). The infamous redhead character now has a gun and is no longer being lusted after, instead helping to run an auction for treasure. The controversial changes have […]
The current web development landscape is rife with buzzwords and technology that gets abandoned almost as soon as it’s made. If you’ve never written a line of code before, it can be hard to figure out what’s coming, what’s here to stay, or how to get ahead.This Beginner Web Development Bundle is a great place […]
The Fader Stealth Quadcopter from TRNDlabs packs incredible flight performance into a package small enough to land on your phone screen, and it’s available now in the Boing Boing Store.The Fader’s six-axis gyroscope module gives it perfect balance in the air. This makes the onboard 720p HD camera all the better for shooting amazing flight […]
Although fully autonomous vehicles aren’t yet allowed on public streets, they are poised to dominate the roads in the not-too-distant future. But before that happens, Apple, Google, Uber, and other companies now investing in self-driving tech are going to need talented developers that can account for the dizzying array of factors at play when a […]