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HassanPortal
United Kingdom
เข้าร่วมเมื่อ 29 พ.ย. 2020
Nothing serious but something I can look back on in the future
Pybullet inverted pendulum robot demo
Here is a 2 wheeled robot robot or otherwise known as an inverted pendulum robot. It’s is modelled after a robot that my group made which you can see in another of my videos on the channel
We used the simulation to test steering algorithms and once we were happy with it, we transferred it to the actual robot.
To move the robot forward or backwards we change the target angle from its rest point. The rest angle may not be 0 if the robots centre of mass is not in line with the wheels rotational axis. You have to tune it to make sure the robot is stable without any commands sent to it.
To steer left and right we add a velocity to each wheel. One wheel has a positive velocity and the other negative. So for turning the speed of the wheel is always the same.
We simply add the steer velocity to the velocity needed for each wheel to balance (found with PID)
#pybullet #robot #gazebo #simulation #ros2
We used the simulation to test steering algorithms and once we were happy with it, we transferred it to the actual robot.
To move the robot forward or backwards we change the target angle from its rest point. The rest angle may not be 0 if the robots centre of mass is not in line with the wheels rotational axis. You have to tune it to make sure the robot is stable without any commands sent to it.
To steer left and right we add a velocity to each wheel. One wheel has a positive velocity and the other negative. So for turning the speed of the wheel is always the same.
We simply add the steer velocity to the velocity needed for each wheel to balance (found with PID)
#pybullet #robot #gazebo #simulation #ros2
มุมมอง: 87
วีดีโอ
A ROS2 Self Balancing Robot
มุมมอง 8K5 หลายเดือนก่อน
In our first-year engineering module, we proudly present BiStable, a two-wheel inverted pendulum robot that can steer as-well as balance. Equipped with the ROS2 framework, BiStable can be controlled wirelessly via a gamepad or through hand tracking using an external camera. Operating on a Raspberry Pi 4 8GB, BiStable communicates data to the ESP32 via microROS. Its two NEMA 17 stepper motors, d...
ESP-NOW and microROS broadcast string data
มุมมอง 5585 หลายเดือนก่อน
Here is a demo showing an implementation of microROS, ROS2 and ESP-NOW which allows each ESP32 to broadcast strings of data without worrying who the recipient is I imagine this could be used in the future to facilitate Robot to Robot communication similar to V2V (vehicle to vehicle) that is employed in cars Robots that need to transmit location data or request help or that need to localise in a...
BiStable: A ROS2 balancing robot
มุมมอง 1.8K5 หลายเดือนก่อน
This is a 2 wheel robot that balances based on inverted pendulum mechanics. It has ROS2 integration allowing it to be controlled by a wireless gamepad as well as in hand tracking mode with the help of an external camera. The ROS2 runs on a Raspberry Pi 4 8GB. Data is sent to the ESP32 via microROS The motors are 2 NEMA 17 stepper motors and they are driven by A4988 stepper drivers. PID turning ...
USB switcher for Raspberry Pi 4 with wireless keyboard control
มุมมอง 1793 ปีที่แล้ว
Today I made a USB switcher which is different from normal USB switchers in that it decided which computer it connects to rather than which device. This was a much-needed solution as recently I got a Raspberry Pi 4 and having 2 keyboards and 2 mice on my cramped desk were both confusing and messy. This USB switch eliminates that problem by allowing me to control 2 different computers (my PC and...
QuadBot PCB V1+V2 explanation and walkthrough
มุมมอง 1503 ปีที่แล้ว
For the past 8 months,I have been working on an extremely low-cost Quadruped robot inspired by Boston Dynamics Spot mini in an attempt to make something functional, useful and teach me new things along the way. The V1 PCB contains an Arduino NANO, two ATtiny85 microcontrollers,and a TGY-iA6 receiver. The V2 attempt, uses a Teensy LC, a NRF24L01 radio module, and 2 voltage regulators. The body o...
3D printed personalised NFC business card
มุมมอง 1.6K3 ปีที่แล้ว
I wanted to experiment with the idea of NFC tags as well as wanting to promote my channel in a clever way so I came up with the plan to make a 3d printed NFC business card that is not only better for the environment, it is cheaper and leaves a better impression on your potential client As soon as I scan the card on the back of a phone, the website pops up and they can easily click on my TH-cam ...
Electric piano using 555 timer
มุมมอง 1463 ปีที่แล้ว
I built a little electric piano to test my knowledge on 555 timers which I am studying in school I'm no musician but I think it sounds cool
RC 3D printed TankBot demo using High Torque servos
มุมมอง 693 ปีที่แล้ว
The plan for this robot was to be extremely strong and big as well as being able to crush cans or cardboard however I accidentally set the servo voltage too high and blew the circuitry causing this robot to stop working So far I have not got the chance to rebuild it as I have some cooler projects taking place
NRF24L01 wireless RC demonstration using Arduino
มุมมอง 1303 ปีที่แล้ว
NRF24L01 wireless RC demonstration using Arduino
3D printed 100 gram RC robot made from Servos
มุมมอง 1413 ปีที่แล้ว
3D printed 100 gram RC robot made from Servos
We would like to ask if you are interested in upgrading your project？ PCBWay are very willing to be involved. Looking forward to your reply.
nice feet bro
Amazing stuff Hassan!
Great work! I am also tring to control step motors via microros, the commands are published via UDP but I could not run step motors as they are blocked by the microros part. Can you share your code for the arduino
@@XXXX11116 thank you. yes microROS can be very fiddly at times when precise timing is required. All the code is on my GitHub username TheHassanShahzad and the repo is bistable_arduino or something along that
@@hassanportal5865 I downloaded your rep but could not locate the arduino codes for the esp32
Hello, what captor/gyro have u used for this project ?
Nice work 👍
From where I can learn these all things . Can you suggest please. I am also interested but don't know anything Roadmap?
@@its_official_shorts_007 ros2 level 1 course then ros2 level 2 course then nav2 course on udemy all by eduard renard. Arduino and ESP knowledge can be picked up from chatGPT or lastminuteengineers.com . Robofuntastic is good for microROS but that’s more advanced
Which software you have use to show graphics and how did you change it into plane?
@@rocketnerds the software is called Processing.js and it’s just reading data from the serial monitor. This is a testing example provided by some library. Google teapot IMU MPU6050 on google for tutorials
How did you connect ROS2 and Pybullet ? and ROS2 and Joystick ? Any packages?
The work in pybullet was separate to ROS2 however in another project I did connect them th-cam.com/users/shorts7H_1pL-8Ow8?feature=shared . The joystick was easy using a python library called approx eng input. I can share the code for the YT short demo if you’d like
@@hassanportal5865 I wounder PyBullet not support ROS2 directly like gazebo. Gazebo communicate with topic and services. I think PyBullet connect with ROS2 with directly Python Pybullet library. Right? I found approx eng input library. Thank you.
Great Work! We'd love to offer you some boards if you might need them in the upcoming content. (PCBWayDaisy)
Hi yes I’d happily take them. Please reach me at zcabhs0@ucl.ac.uk
Creative video, thank you :)
Glad you liked it!
which software do you use for simulation?
Hi I used PyBullet which you can import as a library into a python script
@@hassanportal5865 thx!
Just curious about the battery and boards positioning. I think they should be as low as possible, maybe keep the boards if worried about EMI, but battery probably can moved down and split on both sides
Hi it is actually the opposite. Moving the centre of mass of an inverted pendulum robot helps with balancing instead of making it harder. For example try balancing a broomstick on your hand with the brush at the top and then with the brush closer to you. Splitting the battery is also not necessarily but if you want another battery then I guess that is a solution
Absolutely brilliant 👏
This is impressive but what is the demonstration about? What is being shown on the screen?
On the robot there is a 2d lidar which is used for mapping its environment and navigating. It’s like a slice of the 3d world since it’s only reading data in a single plane. The software which is displaying the point cloud is called RViz which is used a lot in robotics as a go to easy to use GUI. I will try uploading videos where I can give explanation into things very soon
Reinforcement learning can be perform better than PID
It's probably not as fast or efficient though.
Sure but why??
Generally true, and especially so for multi-DOF, but in this case, it's just a single screw axis, right? It's just easier to change by hand here
@@f4rtboss862false, pid performs better here. Even Boston dynamics has a model based approach. Only idiots rely fully on a RF black box.
I’m inspired ❤ I would love it so much if you would accept to be my teacher I’m requesting and soo much appreciated if you would accept 😭🙏
Sure why not 😂
Whoa impressive
really cool!
good project
very cool! I'd like to do that on arduino.
ممكن ملفات الطباعة و القطع الالكترونيه لو سمحت 🙏😊
Good Job Hasan. You are making us proud. Me and your Dad were not this smart when we were your age 😀
Jazakallah Khairan :) There are many more things to come on this channel, I am just waiting for my exams to be over. Wish you all the best
Firstly, great work! I was actually thinking about doing this myself, so really good to see someone has already done it! Secondly, What program did you use in order to make the Web page display on screen for selecting the various links / vcard?
Keep up the great work!
can i order one for 10 pesos?
@janee3dprints.
Keep doing good job..masha Allah
Very nice Hassan...
I'd recommend to learn Blender or Fusion 360 as they are more versatile in use than SketchUp
I have tried to learn fusion 360 but i really did not like the interface and how overly complex everything is. As most of the things i make are fairly simple in design, I don't think I really need to learn fusion 360 or blender but I'd be willing to look more into it Thankd
blender is great, completely free, open source, easy to learn and loads of video help on the internet
I have no idea what this can be used for but cool 👍
The circuitry which controls a quadruped robot
Can we get a face reveal
maybe within the next few videos
Mashallah
Sry bro didnt recognise the piece but pretty cool
Bro ur soldering iron kinda close to ur cat
Hassan, it never occurred to me before, but ur kinda smart arent you?
Brooo thats mad