24 May

These two graphs are based on my Matlab simulations of the behavior of a pre-compressed bistable beam under a point force. The segmented one is the actual data due to some errors, but the adjusted version of the graph (ideally elinimating some errors in calculation) matches the results in previous r...

23 May

CoLo is a portable simulation environment for cooperative localization that allows users to create and test estimation algorithms to compare how accurate the estimated robot locations are, compared with the locations supplied by the UTIAS real world data set.In the past week, I finished up one...

22 May

Previously, the electrical and code interface was implemented in Blocky. On the implementation side, the whole process was such that users will drag together blocks in the Blockly interface but no API are called. In the end, the output is a builderFile that can be run to create the RoCo component th...

20 May

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...

17 May

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...

15 May

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

15 May

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...

08 May

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...

07 May

The Robot Compiler (RoCo) is a robotics codesign and fabrication environment to help the general public create their own robots. This image shows an assortment of programmatically-generated, parameterized polygons (left), the script used to generate the polygons (upper right), and a nonlinear system...

02 May

For the last two weeks, I tried out tackling the differential equation that describes the motion of the bistable beam using a reduced-order model of w(x,t), the transverse deflection of the beam. By approximating w as the combination of some functions of only x or only t, I was able to replicate the...