Anubisway Videos
Locked
|
Hello again,
We are uploading some initial videos of Anubisway. This is an ex-combat robot from Riobotz, that now reincarnated as a self-balancing Segway-like two-wheel vehicle. It is our new way to walk arround the Campus :) but it is far from ready yet :) These first videos are from the very first day we tested it. The control is a 100% Lua program, running on eLua in an EK-LM3S8962 (Cortex-M3 from Luminary Micro/Texas Instruments). But it should run ok on any eLua platform adjusting only the PWM output pins used. There are currently two control modes, one based on PID and other on Fuzzy Logic. The project is part of the Master Degree program candidate César Raúl Mamani Choquehuanca, who came from Peru to study here in PUC-Rio http://wiki.eluaproject.net/Anubisway We hope you enjoy the videos Best Dado _______________________________________________ eLua-dev mailing list [hidden email] https://lists.berlios.de/mailman/listinfo/elua-dev |
|
|
That is an incredible machine! I think it’s a good
showcase of how “powerful” Lua can be on an embedded platform. This
machine obviously has some “real-time” performance requirements.
Are the “real-time” aspects handled by the hardware or by a Lua
program? From:
[hidden email] [mailto:[hidden email]] On
Behalf Of Dado Sutter Hello again, CONFIDENTIALITY NOTICE: This e-mail message, including any attachments, is for the sole use of the intended recipient(s) and may contain information that is confidential or proprietary to K&L Microwave, Inc. Any unauthorized review, use, disclosure or distribution is prohibited. If you are not the intended recipient, immediately contact the sender by reply e-mail and destroy all copies of the original message. _______________________________________________ eLua-dev mailing list [hidden email] https://lists.berlios.de/mailman/listinfo/elua-dev |
|
|
Hello,
The hardware is very simple for now. It has only one Gyroscope and one Accelerometer. We may add some more later but the results are incredibly efficient for such a simple sensor scheme. I think the original Segway has at least 7 gyros and many other sensors too. As I've mentioned, Cesar's software is a single Lua program living on the eLua File System and it all runs on the 64KB RAM of the EK-LM3S8962. And as you can check on the last video, it even handles turns on ramps (!!) already. The Fuzzy "mode" is currently showing slightly better results than de PID module and it will still be tuned for better control. Mechanically, the platform is not helping us at all, much on the contrary and this is one of the reasons I think the results are exceptionally good so far. The problem is that the CG of the vehicle is way above the wheel axis. It does not stand still when powered off and the pilot hands position is still too low for a good handling. The Riobotz guys will design a new system, including a small electronic panel where we plan to have rotary switches (an eLua module is coming, by Marcelo Politzer) to tune control parameters in real time. A dead-man-switch is also planned, because the falls are likely to come and may hurt someone :) So, there is no "real-time aspects" handled by any hardware, other than sensing the rotational position and acceleration. And yesssss, it is damn cool to drive it already ! :) Téo Benjamin, Ives Negreiros, Fenando Araujo, Vagner Nascimento and Ricardo Rosa are working on a new version of Manfredo (http://wiki.eluaproject.net/Manfredo), that will receive new students and visitors and guide them through the Campus presenting the main facilities. These and most of other examples here are programmed by students of areas not directly related to Computer Science or embedded systems. Everything is programmed in Lua and eLua takes care of complexity below. We are uploading at this moment some more videos on LM3S games and VFD demos and you're all welcome to check them on the wiki later today. Best Dado On Fri, Mar 26, 2010 at 12:31, King, Mike <[hidden email]> wrote:
_______________________________________________ eLua-dev mailing list [hidden email] https://lists.berlios.de/mailman/listinfo/elua-dev |
| Free forum by Nabble | Edit this page |