05 Jun

The control loop has been implemented in Simulink. The physics and attitude controller are yet to be finished.The total required thrust comes from two sources: the thrust from the position controller and the thrust required for the attitude controller. The following image shows the control loop in S...

03 Jun

The Robot Compiler (RoCo) is a robotics codesign and fabrication environment to help the general public create their own robots. The above image shows two parameterized geometries representing robotic grippers (left) and a section of the code used to generate the geometries (right). Although these...

29 May

The problem of the single-motor-flyer can be summarized and assumptions added.

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...