3D Printed Two-wheeled Jumping Robot | Capstone Project

This is an undergraduate Capstone project built by McMaster mechanical and mechatronics students.

[@BenCauntyt]

Really awesome robot, I think the suspension capabilities that the jumping mechanism provides is an awesome idea to allow much more robust terrain traversal despite the balancing robot archetype

[@loganmacneil3424]

Me at 9 telling my dad to watch me on my dork bmx. What my dad saw: 0:39

[@HyperMakes]

Very good capstone project. Looking forward to see more advancements on your robot.

[@illustriouschin]

If you want it to jump efficiently, have it compress a spring and then trip a release.

[@HoltsWeirdWorld]

Super fun watch!!!

[@benjamin_f_gates]

This is awesome! Any impetus for a topology-optimized part if it's just 3DP? Plans to move to alum chassis soon maybe?

[@yaacheese8643]

Are you going to make more in depth videos about this? I am not an engineer, but would love to learn and this project seems to have incorporated a lot of cool things.

[@johnwiltson3164]

This would be a good way to stabilize a motor bike. Thank you verry much for sharing.

[@timojixio9881]

I couldn't see any gyros. Does this use only it's wheels to stabilize, and if so, wouldn't that reduce stability mid air? Also, if it's only stabilized through the wheels and legs, it's pretty impressive. Especially the emergency brake situation was an awesome showcase of the design. If you didn't use gyros, is that because of a hinderance of a higher jump or does it have any other reasons?

[@kinosicemint2251]

We didn't use gyro, we used a format similar to the ETH Asento idea, using only wheels to stabilize. When jumping and falling, the state machine detects state changes and switches the control strategy. Let me know if you more questions :)

[@perspectivex]

So, those motors/actuators are around $300 each? Did you try to find more economical alternatives and if so, what would have been your next best choice? This is a real road block for playing around trying to make some diy robots. I have some hoverboard motors I'm going to try to use but I guess they don't come close to the torque & power (at least per unit volume) of the expensive actuators do they?

[@yashrajshah7766]

How does it balance? Does it have a gyroscope?

[@kinosicemint2251]

Similar to an inverted pendulum problem, torque control on the driving wheel.

[@preferredimage]

what software at 0:30 please?

[@vaisakhkm783]

The only robot i know that actually jump is bosten dynamics robots.., their 12 year old tiny robot jump to top of entire building

[@rodrigorila1605]

Bro, made THE two-wheeled Robot

[@vasusharma4747]

Hey,bro this is remote control or self control

[@kinosicemint2251]

Hi Vasu, it's remote control now, but compatible with lidar so it can navigate by itself in the future.

[@vasusharma4747]

@@kinosicemint2251 thanks bro for your reply

[@TheOneWhoSometimesSaysOk]

Sure why not

[@ChaosOfAnEngineer]

this could be great if some more fire protection was added, this could be deployed as a mini robot to fight fires in buildings

[@abdullahcakan]

Is this an open source project? I really wanted to check simscape models..

[@kinosicemint2251]

Hi abdullahcakan I will make a video about the simscape models this summer, stay tuned.

[@abdullahcakan]

@@kinosicemint2251 Looking forward to see that video !

[@spartans2371]

Brother please share the codes and stl file for the robot

[@jwsmite]

That was a pretty weak jump if you’re calling this a jumping robot…

[@kinosicemint2251]

Thank you for pointing it out. The original body motor we selected is the DM 8006J, which has enough torque and RPM to achieve a 25cm jump based on our calculations. Saddly, out of the 5 motors we bought, two were broken for wired reasons (very disappointing). As a result, in order to complete our Capstone project on schedule, we switched to a different motor with a higher reduction ratio and lower RPM, resulting in a weaker jump.

[@agerken]

@@kinosicemint2251 one option would be to not call it jumping robot then ;) Nice robot though.

[@prinnyprinnevald111]

​@@agerken I presume if this is a capstone project, they can't just switch a name on a whim. They presented the result of their research with all of the good results and addressed the faults of the outcome (which was the use of another motor). That's the gist of the research after all. Imo as a capstone this is a commendable effort worth praising

[@3DXSkunkworks]

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