{"id":520,"date":"2024-05-03T13:35:52","date_gmt":"2024-05-03T13:35:52","guid":{"rendered":"https:\/\/peterklemperer.com\/blog\/?p=520"},"modified":"2024-05-03T13:36:11","modified_gmt":"2024-05-03T13:36:11","slug":"1-d-egg-robot-version-2","status":"publish","type":"post","link":"https:\/\/peterklemperer.com\/blog\/2024\/05\/03\/1-d-egg-robot-version-2\/","title":{"rendered":"1-D Egg Robot &#8211; Version 2"},"content":{"rendered":"\n<p>This week I made some changes to the Egg Bot and named it version 2 (even though it&#8217;s really a version 1.5 probably). I combined the servo and circuit board mounting into a single bracket, printed the new bracket, and installed the new bracket. The bracket seems to have improved stability by lowering the center-of-gravity. I refined the PID controller, reducing oscillations and departures following perturbations. Finally, I added a long-term planner that changes the set-point of the controller along a pre-programmed path. The planner smooths the transitions by a rate of 5 degrees per second to improve stability.<\/p>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe loading=\"lazy\" title=\"1D Egg Robot - version 2 - controlled 60 degree side-to-side roll. #robot #3dprinting #raspberrypi\" width=\"640\" height=\"360\" src=\"https:\/\/www.youtube.com\/embed\/_SeNkuO-hMQ?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe>\n<\/div><figcaption class=\"wp-element-caption\">Egg Robot performing a 60-degree side-to-side (roll) transitions.<\/figcaption><\/figure>\n\n\n\n<p>The goal of these roll transitions is to create space for a future, simple (knee-less) leg to swing in a 2-D version of the Egg Robot. I will continue to experiment with increasing the roll angle to find the limits of stability with the version 2 system. Then, further analysis can be done to determine parameters for future egg bots and whether a 2-D design is feasible.<\/p>\n\n\n\n<p>Next steps for Version 3 of the 1-D robot:<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>Shoes so I don&#8217;t have to use the silicone mat to keep the robot from sliding<\/li>\n\n\n\n<li>More complex PID controller<\/li>\n\n\n\n<li>Enclosures for the front and back to add personality to the robot<\/li>\n\n\n\n<li>Eyes<\/li>\n\n\n\n<li>Battery power?<\/li>\n<\/ul>\n","protected":false},"excerpt":{"rendered":"<p>This week I made some changes to the Egg Bot and named it version 2 (even though it&#8217;s really a version 1.5 probably). I combined the servo and circuit board mounting into a single bracket, printed the new bracket, and &hellip; <a href=\"https:\/\/peterklemperer.com\/blog\/2024\/05\/03\/1-d-egg-robot-version-2\/\">Continue reading <span class=\"meta-nav\">&rarr;<\/span><\/a><\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"jetpack_post_was_ever_published":false,"_jetpack_newsletter_access":"","_jetpack_dont_email_post_to_subs":false,"_jetpack_newsletter_tier_id":0,"_jetpack_memberships_contains_paywalled_content":false,"_jetpack_memberships_contains_paid_content":false,"footnotes":"","jetpack_publicize_message":"","jetpack_publicize_feature_enabled":true,"jetpack_social_post_already_shared":true,"jetpack_social_options":{"image_generator_settings":{"template":"highway","default_image_id":0,"font":"","enabled":false},"version":2}},"categories":[46,90,67,80],"tags":[108,110,101,85,12,92],"class_list":["post-520","post","type-post","status-publish","format-standard","hentry","category-3d-printing","category-cad","category-programming","category-robotics","tag-controls","tag-mechatronics","tag-pololu","tag-raspberry-pi","tag-robot","tag-robotics"],"jetpack_publicize_connections":[],"jetpack_featured_media_url":"","jetpack_shortlink":"https:\/\/wp.me\/p1VqWo-8o","jetpack_sharing_enabled":true,"_links":{"self":[{"href":"https:\/\/peterklemperer.com\/blog\/wp-json\/wp\/v2\/posts\/520","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/peterklemperer.com\/blog\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/peterklemperer.com\/blog\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/peterklemperer.com\/blog\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/peterklemperer.com\/blog\/wp-json\/wp\/v2\/comments?post=520"}],"version-history":[{"count":0,"href":"https:\/\/peterklemperer.com\/blog\/wp-json\/wp\/v2\/posts\/520\/revisions"}],"wp:attachment":[{"href":"https:\/\/peterklemperer.com\/blog\/wp-json\/wp\/v2\/media?parent=520"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/peterklemperer.com\/blog\/wp-json\/wp\/v2\/categories?post=520"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/peterklemperer.com\/blog\/wp-json\/wp\/v2\/tags?post=520"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}