My burgeoning interest in control theory and a continued fascination with legged bots has led me to start over with a very different two-legged robot, following the mechanical completion of the Mini-Humanoid (Ordinary servos aren't exactly the best fit for robust control, to say the least). That is why, inspired by Ghost Robotics' Minitaur and Oregon State University's ATRIAS, this design utilizes five bar parallel linkages.
Additionally, the robot will receive stabilization assistance from reaction wheels mounted on top. This will be a difficult system to perfect. I will certainly need to brush up on advanced kinematics and learn more control theory.
Additionally, the robot will receive stabilization assistance from reaction wheels mounted on top. This will be a difficult system to perfect. I will certainly need to brush up on advanced kinematics and learn more control theory.
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The PCB
Over time, I've realized that one of the biggest issues in all of my projects was a lack of finesse when it came to electrical design. Often, the electrical design has been left up to my friends majoring in EE. While they are far more skilled in electrical engineering than I am, they have only so much time in their schedules to work on these projects with me, and this has led to massive delays in the completion of my projects.
Robotics and mechatronics is about the culmination of many fields - mechanical engineering, electrical engineering, computer engineering, and computer science, for starters. Attempting to develop an electro-mechanical device while only paying attention to the mechanical aspect is a recipe for failure. As a result, beginning in June 2018 I took it upon myself to learn how to use Altium Designer to develop a PCB for this project. This involved bugging my electrical engineer friends with a million questions every week, but I've learned a lot about electronics.
Robotics and mechatronics is about the culmination of many fields - mechanical engineering, electrical engineering, computer engineering, and computer science, for starters. Attempting to develop an electro-mechanical device while only paying attention to the mechanical aspect is a recipe for failure. As a result, beginning in June 2018 I took it upon myself to learn how to use Altium Designer to develop a PCB for this project. This involved bugging my electrical engineer friends with a million questions every week, but I've learned a lot about electronics.
