How to make a (Mini) Boston Dynamics Handle - Self Balancing Robot with Arduino and Raspberry Pi

[@Drunken_Hamster]

I want to see a Handle or Mabel scaled and and used as a wheelchair for disabled people. It would give them a whole new outlook on life being able to quickly and effortlessly traverse stairs, jump, sprint, and stand on their tip toes to reach high places, again.

[@Sternhammer89]

Just watched this video on the PiWars Virtual Conference - great project, well done.

[@raspibotics]

Thanks it's been a lot of fun making it!

[@KentoNishi]

Wow this is really impressive. I was super surprised to see that your channel is so small, so I went ahead and shared the vid with some nerdy friends. Excited to see what you do with the additional PID controller!

[@raspibotics]

Thanks! I've not had time to work on MABEL much lately due to working on other projects but I'm glad you enjoyed the video, thinking about making more in the future.

[@OMNI_INFINITY]

*Adding a gyro stabilizer would likely make it more stable.*

[@nambot]

Cool robot and cool editing! I like the touch of comedy :)

[@raspibotics]

Thanks, tried to have a balance of entertainment and robotics.

[@karthikram570]

I had this idea back in 2017, but I was not able to fund it myself. I used dynamixel servos for the links and dc motors with encoders for the wheels for velocity control. I guess to make it work more like boston dynamics handle, other than inverse kinematics, inverse dynamics needs to be resolved with the help of force torque sensors, and the challenge there is to measure very tiny perturbations in torque and force , especially in multiple axis would require very high precision sensors. Amazing project. Would love to see it go around in circles and doing turns as well. All the best!

[@raspibotics]

I've seen the dynamixels they look perfect for the project like you said but they are quite expensive, I've just used some cheap hobby servos so I'm not getting any kind of feedback from them, that would have been very useful though!

[@TechVirtue]

This is cool! Thanks for the amazing project/video.

[@stevenboelke6661]

Question: Couldn't you have used parts from a hoverboard to have take half the work out of the project? That'd cover the self balancing and driving, so all that would need to be done is to control the legs (and any arms).

[@GreenFarm8821]

What is that software at 0:43 please?

[@raspibotics]

It's Autodesk Fusion 360

[@GreenFarm8821]

@@raspibotics Thank you

[@uzairp]

Really interesting project. I have also been trying to create my own version, and coame along some interesting projects called Ascento and SK8O, they use pancake brushless motors which gives them a lot more power, (I think they might be odrive), but they are therefore a lot more expensive too. They have some papers on the algorithms they use to control the robot but I'm still figuring out how they work.

[@raspibotics]

Yeah I've seen those projects really cool what they're doing. Brushless + o drive Is the way to go for sure

[@uzairp]

@@raspibotics Something really cool could be using mecanum/omnidirectional wheels at the base, and maybe using some gear reduction/cycloid drives so we could use smaller standard drone brushless motors.

[@mack_solo]

Great work! Couple of mechanical suggestions: use wheels with compressible tyres - they'll act as shock absorbers for outdoor surfaces and slightly widen the footprint when stationary; increase the wheel diameter - will give higher control for the same linear mass deviation at the top (also something you've already discovered about inertia: compact the mass higher for the same vertical dimension of the robot); take a trip to IT recycling center or junkyard and raid some laser printers, photocopiers or paper shredders! for brass gears and, if you're lucky, you might get some helical ones too. And even plastic ones will be of higher finish quality than what you can do on your 3D printer. In fact I'm impressed that with 20tooth cogs you were getting the results we see - that's 18 degrees per step! I am looking forward to see your next iteration of this project, keep it up! Loved the trials - reminds me of DARPA challenge videos and R2D2 behind the scene outtakes :D PS Some microwave ovens have awesome multiple gear sets in the plate turntable mechanism. Thrown away prams have great wheels for projects. And I know 3D printing is the thing for prototyping (especially when designing in CAD) but I swear by aluminium flat bars as a construction material (kinda meccano style): easy to work with hand tools, excellent stiffness to weight ratio and all weather resistance. Peace!

[@raspibotics]

Thanks for those suggestions, there's definitely a lot of room for improvement in the gears I'll have to have a look around for some proper ones. Due to the large tooth size there's quite a bit of backlash which is undesirable and means I have to overcompensate knowing the robot weight will squash the backlash out. As for the wheels, larger diameter would be good but I'm not sure if the motors will have the torque needed

[@khalifdove7955]

Thank you very much for open sourcing the project! Beautiful work

[@maxwellgraysen3451]

I dont mean to be offtopic but does someone know of a method to log back into an instagram account?? I was dumb forgot my login password. I love any tricks you can give me

[@kashtonray3198]

@Maxwell Graysen Instablaster =)

[@maxwellgraysen3451]

@Kashton Ray I really appreciate your reply. I got to the site thru google and Im in the hacking process now. Looks like it's gonna take quite some time so I will get back to you later when my account password hopefully is recovered.

[@maxwellgraysen3451]

@Kashton Ray it did the trick and I actually got access to my account again. Im so happy:D Thanks so much you really help me out !

[@kashtonray3198]

@Maxwell Graysen You are welcome :D

[@jamab2307]

epic works love 2 see it moore completed !

[@raspibotics]

Thanks!

[@GlevoTec]

Nice project! Love to see what you'll do more with it. I've subscribed

[@fightgamevideos2256]

Nice video ! Really like it !

[@raspibotics]

Thanks, appreciate it!

[@nunobartolo2908]

use an LQR not pid and you will have a motion planner too

[@-nguyenminhquangiot17a40]

anh có thể cho em xin xem tham khảo file 3d đc ko ạ

[@jorgesalgado23]

well done!

[@raspibotics]

Thanks!

[@nikachachua5712]

bro pls help me im tired i checked everything in google and i can find answer about my question , can u tell me pls where i can learn the simulation process, i would pay too for great course or book, how to use simulation into the raspberry pi robot project 🙏

[@raspibotics]

What kind of simulation?

[@nikachachua5712]

@@raspibotics kzbin.info/www/bejne/d4S9mqh9Z9echpY

[@nikachachua5712]

0:20 kzbin.info/www/bejne/n3iolXlrhth3eJo

[@raspibotics]

These look like custom coded simulation/visualisations. You could simulate your robot like this in python using a graphics library like pygame to draw some visuals.

[@nikachachua5712]

@@raspibotics okay thx and 1 last question i want do things like u did so where i should increase my skills , give me link to learn pls 🙏

[@devsadan5510]

epic dude!

[@CyberOne]

This is pretty good, but can you do this with feet instead of wheels? :-)

[@raspibotics]

I wish haha

Byou should use better and more precise driver for your stepper

[@alanjose1793]

So cool

[@tommyfree4736]

Sorry but they may of took decades and millions of dollars to come up with theirs, but they didn't watch KZbin videos for ideas. I have no experience but if I copied some videos from KZbin I could make one in a few days. These guys did theirs from scratch and it is almost perfection. Sorry but no comparison. Still good though don't get me wrong

[@raspibotics]

Yeah of course, it doesn't even come close it's just my original inspiration and I wanted to create something that people could make and would be different from some other self balancing robots.