The Robot Compiler (RoCo) is a robotics codesign and fabrication environment to help the general public create their own robots. The above image shows an assortment of programmatically-generated and parameterized polygons connected to each other (left), the script used to generate the polygons (uppe...

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For this past three weeks, Wenzhong and I worked at designing and fabricating prototypes of mechancial logic. While we are facing many challenges in symmetry and fabrication time, we came up with two new prototypes. We are seeing a lot of improvement on symmetry on our new design. However, the symme...

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  1. The relation between the control coordinate frame and the body frame is still unclear.
  2. How the angular velocity of the body with respect to the inertial frame viewed by the control frame is extracted from IMU.

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Blender Interface Update: For the past couple of weeks, I have been working on the electroprogrammatic interface for Blender RoCo. Here are some issues that I have encountered, some of which I have solved and others I have some ideas of how I am going to approach solving. Before the list, I would li...

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The inner control loop for the single motor system is a LQR control loop, which controls only the two attitude degrees of freedom relevant to the vehicle’s translational motion. To use LQR controller, the first step is to linearlize about the hover solution, so that the system becomes a linear sys...

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