Balancing Leg

July 18, 2023 BuildIts Feed Controls Robots

It balances!

The inertia changes significantly as the "body" moves up and down the leg - for the controller, I got feedback gains with LQR for the maximum and minimum extension cases, and linearly interpolate between those gains as the leg extends.

Comments from Blogger

Felipe Depine — July 18, 2023 at 03:08 PM

Very impressive! This is a difficult plant to control. Not sure if it's in the plans for future posts, but more info on the controller design would be awesome.

Ben Katz — July 18, 2023 at 03:48 PM

Thanks! More detailed reaction wheel post in the works.

Anonymous — July 19, 2023 at 04:45 AM

Beautiful :))