Lego, Raspberry and Python Project - Reaction Wheel Inverted Pendulum

[@mezzer34]

Ah yes, PID loop refining. The true "Try some numbers and see" of engineering

[@IgnavumFortuna]

That was just too beautiful! Everything else was well thought out and planned. and then this tuning "algorithm". Roll 3d100 and see what happens.

[@kk10494]

Nowadays you just put in some result parameters, and train the PID based on the results

[@emmote77]

Sounds like the kind of problem you throw at a genetic algorithm or neural network.

[@JohnDoe-po3ku]

@@emmote77 neural network is more for complex patterns

[@thepengwn77]

You can model the whole setup, throw it into a block diagram, and calculate out the correct parameters. Seems a little silly with something this simple but it pretty important in chemical processes etc where trial and error isn't feasible.

[@Azeal]

so cool to see you branch out the skills you apply on this channel, amazing work!

[@ДмитроМінтенко-м7и]

wow you watch him?

[@CSharpDCS]

It really is fascinating!

[@The_Dancing_Elephant]

Cool to see your favorite youtubers watching your other favorite KZbinrs

[@Raindrop199]

Hey Azeal did not expect to see you here! Been a fan for almost a year now

[@VOENNI_MILK]

@@ДмитроМінтенко-м7и жаль. . .

[@TymTym55]

I'm really impressed by Your skills. You are lego designer, physicist, programmer and electronics engineer. Thanks for the effort You put into Your videos, good luck in future experiments!

[@alvlp-xyz]

Yes, I want to make something like that but things are expensive because I'm a kid🤣🤣😅

[@Marco-yk8kp]

this is all very basic stuff, give it a shot and you will make reaction wheel robots in no time

[@noname-codm4590]

@@alvlp-xyz Ngl, I’ve seen kids do some cool engineering stuff. Example is the kid in Mark Rober’s video. I’ve also seen a kid in a third world country solder and create some stuff out of discarded e-waste. The thing here is maybe you’ve never really tried to create things like this.

[@xGOKOPx]

I think most people i STEM know at least some basic Python or C, because it's used all over the place (in fact a common complaint related to working in Python is having to work with code written by non-programmers)

[@noname-codm4590]

@@xGOKOPx damn, wish I have a programming subject. I think there will be in g12. But I plan to learn to code anyway. I really hear a lot in phyton.

[@Kombivar]

I personally learned more in this "one cup of tea" episode then I would ever do so on the PID matter during my entire engineering course. Outstanding job!!

[@Hans-tr6dx]

yes and no

[@Kombivar]

@@Hans-tr6dx Well it depends how often do you press "Pause" :)

[@Hans-tr6dx]

@@Kombivar Yes that's true. If you really go and understand everything he writes / codes then you get a huge amount out of it ^^

[@MScienceCat2851]

@@Hans-tr6dx True

[@epolpier]

No

[@mikepetersen2927]

Nicely done! I particularly appreciate how you documented everything at the end, so anyone could replicate your work and build on it. Thanks!

[@Tigrou7777]

5:00 PID controller values : usually you set the P and D constants first, and end up with I part. The integral part is useful when current angle lags behind target, not for overall stability.

[@330f]

You've made some pretty cool things for your channel, but this one is by far the best one. Excellent work!

[@EfeAksoy08]

I dont get it. What did he make? What purpose does it have?

[@DK1213]

@@EfeAksoy08 If you have no knowledge of Python, Lego, or physics, this won’t be interesting for you. Read the description or don’t, it’s not anyones responsibility to entertain you.

[@EfeAksoy08]

@@DK1213 easy Einstein, i just asked what it is

[@LogicDoesStuff]

@@EfeAksoy08 Obviously in the title and description of the video.

[@todisbhatti7638]

Qowgfb

[@GoofballAndi]

This channel is gonna give Boston Dynamics a run for their money in a few years at this rate. I for one welcome our new Lego overlords.

[@matthew.wilson]

Instead of switching the target angle at a fixed frequency to avoid saturation, run a slower feedback loop that adjusts target angle as a function of motor acceleration. Essentially get it to search for a target angle where it doesn't need to accelerate. You could probably get it completely stationary that way.

[@Frits34000]

Nice. So one control loop tries to minimize the angle difference between setpoint and actual angle, and another control loop adjusts the setpoint angle to minimize the motor effort

[@ZoonCrypticon]

I would do a pulsed step-up acceleration in relation to the deviation angle.

[@marblemaster1]

As a mechanical engineering student interested in mechatronics, this is the coolest thing I've ever seen. It makes me want to try something like it myself!

[@calimero14]

I've had a similar prodgect in class ( the name was "ball and plate", a stabilized ball on a touch panel) and I love how we spend litteraly 10 hours on a precise calculus of the value of kp ki and kd (modelize thé forces and momentum etc...) when you simply Made it step-by-step lol Super great video btw

[@Matthias-tc4ec]

Ah un français. On nous reconnais direct à cause du correcteur qui met des "thé" quand on veut écrire "the" 😂

[@calimero14]

@@Matthias-tc4ec j'ai fait ce que j'ai pu contre le correcteur 😆

[@GuillaumePerronNantel]

@@calimero14 moi, j'ai éliminé la compétition. J'ai enlevé l'autocorrecteur parce que je devais trop souvent écrire deux fois ma phrase. J’étais tanné d’être en compétition avec l'autocorrecteur!😂

[@calimero14]

@@GuillaumePerronNantel sinon ultime solution que j'avais sur mon ancien téléphone, j'avais mis français et anglais dans le correcteur, le meilleur des deux mondes !

[@bruhbwoi3618]

I think you mean trial-and-error instead of step-by-step? Your English is great otherwise👍

[@superman55566]

This channel just constantly ups the game. My jaw dropped multiple times throughout the video. It's more than just engineering, this is art. BRAVO 👏👏👏

[@Steve_McMillen]

My favorite lego building youtuber is back! Got my morning coffee with me and ready to enjoy your builds!

[@dominikromanczyk4595]

Morning? I have 16:13😅

[@sanishot9326]

@@dominikromanczyk4595 HEHE

[@Steve_McMillen]

@@dominikromanczyk4595 Haha its morning for me, Pacific Time!

[@newswang1217]

I am in UTC+8，now is 20:10

[@sanishot9326]

@@newswang1217 We have an hour in Poland 16:25

[@chinmayk8004]

Absolutely loved that iterative engineering process, it was therapeutic

[@Dangineering]

I have loved watching this channel break into more complex engineering projects, this is exactly my slice of pie.

[@thordarnell5080]

Screw learning at a school or online I’m just gonna watch this guy

[@jacksonschuler3785]

As a college student in aerospace engineering who is now learning PID controllers, this video is awesome. This is easily one of my top 3 channels, this is a great new topic and I can’t wait to see what’s next!

[@hchickenz1138]

is this stuff difficult to learn in your course?

[@jacksonschuler3785]

@@hchickenz1138 conceptually yes, the theory behind it is difficult, but implementing it is pretty straightforward.

[@difirsty5045]

What are the other two channels? ))

[@BobbyDukeArts]

Dude, that would make an amazing science Fair entry

[@rubikfan1]

If you want more precision. You could use 2 wheel instead of 1. 1 for clockwise and 1 for count clockwise. Meaning the wheels keep going in the same directions and less jerking back and forth. As less accelaration is needed.

[@Marci124]

The one downside is that it decreases the reactive weight/dead weight ratio of the pendulum for a certain direction. But if it can achieve the angles and agility you want, then this doesn't really matter.

[@rubikfan1]

@@Marci124 true. So i guess it depends on how heavy the motor and wheels are.

[@TheTomco11]

It's the acceleration that is needed though. Less acceleration=less torque

[@rubikfan1]

@@TheTomco11 angler momentum will also stabiles the proces.

[@Marci124]

One the other hand, due to the increased total reactive weight, this setup would have twice the saturation margin as the single wheel setup. When one wheel is nearing saturation, the angular momentum could be transferred to the other wheel. You could do this by decelerating the saturated one at the same time as accelerating the other one in the same direction. During this operation, it's possible to not apply any torque, but one could also incorporate this to always run in the background by differentially moving the two wheels in concert. On the other other hand, doing the above would require one to move at least one wheel in both directions, doing away with the benefit frim the OP.

[@theftking]

My favorite part was when the wheel spun.

[@biancadarosa9053]

Hi theft king I liked your videos ty

[@ab_c4429]

Beautiful video for understanding how control algorithms work! You are probably a very good engineer.

[@kameronmyles2013]

Reading this comment as he hits it with a pop bottle/shakez entire thing, very ironic thing to read lol

[@unoriginalcopy9844]

@@kameronmyles2013 average engineer

[@destripapcs]

Absolutely amazing work. The way that you are able to understand the meaning of formulas that there are behind an inverted pedulum and how do you implement them into the code and correct all the issues that apears during the development is incredible. I would like to be half as smart as you 😂

[@kdevlogs5550]

i know Jack shit about this kind of programming or math, but I do know from getting decent algebra grades, they give you the formulas so you learn how to plug and play with random numbers to see what happens. eventually if you get good at the world is your oyster

[@alfiolocatelli5093]

Actually that's not an inverted pendulum to be precise, but still an awesome project!

[@Katvanished]

I love the testing method of "hit it with a bottle"

[@Fishman7523]

it's a tried and true method It works on large insects, younger siblings, and sensory robots you want to hit without damaging any components

[@LilRedRabit]

@@Fishman7523 you already said large insects, didn't have to add younger siblings!

[@Vitrivius]

*badum tsss*

[@thecatofnineswords]

Watching the code evolve was a good insight into programming. Very cool.

[@thatwontwork9046]

This is so epic. Coincidentally im doing this exact thing right now for a final project but using Non-linear backstepping control so it can swing up from any position. Nice job!!

[@arial_01]

bro as a programmer, this took so much work and learning lol. This is awesome, I also love the "put in a random number and try again" technique

[@familiameseguersantiago2399]

Please... PLEASE make one that works in 2 axis! :D Awesome video btw!

[@superpowerdragon]

yeah, and try free standing on a carpet or something

[@ВикторМарухин-с2ж]

Or all 3 ones. O.o

[@SylvieTheBagel]

@@ВикторМарухин-с2ж *buys drone*

[@ВикторМарухин-с2ж]

@@SylvieTheBagel really :D

[@arnsassassiner]

I recently finished my control system course in eee , and this was one of the best project i have seen.

[@omaristephens2143]

This is a really great intro to controls and dynamics! I especially like how you showed the effect of different kinds of control delay, and different mechanical setups that also had noticeably different stiffnesses 👏🏽👏🏽👏🏽👏🏽👏🏽

[@taxigalaxi]

My man your mouse and keyboard sounds CLEAN!

[@Sam-gk7wn]

Yo, as a control engineer, it's cool to see you applying PID control to a project anyone can do. Keepit up

[@legarm1876]

10:49 I opened my mouth wide in amazement for more than 1 minute, really amazing work

[@GaleAeras]

This is incredibly thorough documentation! Great job! I'm very much impressed!

[@BladeScraper]

Ohh man yes please. Love the combination of LEGO with electronics. My two guilty pleasures. Keep going!

[@SKIND-SMOKEWAGON]

Easily my favorite video you've put together. Well done documenting everything on this project.

[@aaronrovinsky11]

this is so cool!! we need more videos like this that show the building/coding/tuning process all in one. makes projects like this way less intimidating for people just starting out!

[@mediocreanimator]

I love how all your content has the same style even if it's not legos.

[@no-lifenoah7861]

legally it is lego

[@h82fail]

Wow love your style - just tons of data and experimenting, no voice over or music. Thanks!

[@dampierre99]

I literally have no idea what's going on what they're coding or even what they're trying to achieve, but goddamn I sat thru everything mildly entertained and interested

[@no-lifenoah7861]

@@tusharxo that is correct. it's a reaction wheel, which spins in reaction to it's angle being changed to get back to where it started. They're used in rockets, missiles, and other flying things.

[@lourencopereira5959]

@@tusharxo yea i also got it eventualy

[@kameronmyles2013]

I was scrollin trying to see if anybody else was also clueless

[@bitlong4669]

I thought reaction wheels were pretty common these days.

[@Swybryd-Nation]

Depending on your writing skills and persuasive verbal abilities this project with variations could be worthy of a masters in Electrical Engineering

[@TRAHUN4IK]

dude you are a magician

[@DUSTINISMS]

I have literally looked up Lego, Raspberry and Python Project separately this week. The algorithm then sends me this video. Amazing! This is so cool!

[@CyborgX7]

I love it. Great project. How about a version with an arm that can freely rotate 360 degrees? Could it get up from neutral hanging down position? Could it deal with rotating the entire apparatus?

[@nikkiofthevalley]

Given that these are Lego motors, probably not, at least not without some gearing to increase the torque produced.

[@rsedivy2]

@@nikkiofthevalley Probably not with a simple PID controller like this but with a rigid arm and some extra code, you could get it to start swinging to the point where it does a 180 swing - you just reverse the reaction wheel direction at each end of the swing to load it in the opposite direction. It would take some work but it's imo doable. In high school I made a self-sustaining pendulum out of a mindstorms kit that only used a mass that was raised a few centimeters at the apex of the swing, and then released at the bottom - to model a children's swing set. It's pretty easy to get that to increase amplitude. That was attached via a string, though, so it couldn't do a full 180 swing... you need a rigid arm for that.

[@kartiksahota7062]

Is i am the only person here who understood nothing ? 😂 Man you are genius I am so much impressed by your hard work. You have great skill brother keep it up :-)

[@BeTheGr8]

That's impressive! Looks like someone is putting their engineering degree to good use

[@marcusdechant7092]

your past videos have impressed me, but not to this degree, this is some seriously next level!

[@falcau9089]

That was, in my opinion, the most inspiring video you've made, and god knows how inspiring your vids are :) Keep it up !

[@challengerdrakava1198]

I don’t understand the code or math but it was interesting to watch the motor go vroom 😄

[@abderrahimelgomri1626]

So cool seeing the gyroscopic effect being used this way , I have been amazed when learning about the physics of it . and I appreciate the engineering of it now .

[@kasparroosalu]

This is not a demonstration of gyroscopic effect. Acceleration of the wheel just transfers torque trough the motor to the pendulum to keep it upright.

[@_PoLR]

I have no knowledge of electronics or coding, and I still watched this whole video. Well done! Proud to be a sub.

[@u22727]

Impressive. I will stick to Lego Duplo.

[@fishnmaster421]

This is way over my head dude. But amazing none the less

[@samfelton5009]

This channel is so special. I love content like this, playing with toy problems and using engineering principles to make stuff that's so fun. keep up the good work!!

[@garvitmehra8159]

loved the " from time import sleep" 3:06

[@JoSeph-qo4gq]

Basically a human flailing his arms when he’s unbalanced

[@georgeau2523]

This is the most unrealistic depiction of programming I have seen since the movie 'Swordfish', your code always compiles and you didn't copy paste half of it from stackoverflow, you sir are a God, very well done.

[@Erikve]

Very cool experiment! Calibrating PID settings, you seem have read the same paper we used to us as a reference; I recognize the same strategy (however, the last fine tuning always feels a bit at random for anybody :p).

[@Taygetea]

what paper is that?

[@aibok42]

@@Taygetea PID Without a PHD? Great read in any case.

[@ralphcalzada4767]

you make the pid tuning look so easy ive been tuning mine for weeks

[@OrbitalLizardStudios]

Ok this is sick. I wouldn’t be surprised if you made a whole ass lego satellite

[@AidanGamesYT]

*3 seconds ago*

[@imakedookie]

get this comment out of here man. respect the vid

[@OrbitalLizardStudios]

@@imakedookie? i meant “sick” as in “cool”, if thats what u are talking about

[@imakedookie]

@@OrbitalLizardStudios @aiden my guy. "3 seconds ago" is a useless comment

[@JackAllpikeMusic]

you know this man is skilled when he can understand pythons in-line string formatting.

[@scose]

I think ANGLE_FIXRATE is playing a role similar to what you would get from clamping the integral term to avoid windup. Might try that to simplify the code

[@razerh0]

Man, look at all these engineers that you've drawn on to this channel/your video. Well done. I really love your work. Outstanding 🤩

[@celebrityxcruises8087]

5:35 I didn’t know the lego motor could respond and make that noise

[@AidanGamesYT]

1 SECOND AGO!!

[@batzzz2044]

@@AidanGamesYT whatcha doing timing these comments? Just curious

[@raphaeldepaula3054]

This made me realize how much more is the engineering behind those Mule robots. Cool project!

[@ReyMysterioX]

One question, what library did you use for the continuous plots? And how did you extract that data from your scripts? Just dumped out as text and plotted later or plotted on the fly?

[@vetelys6652]

Matplotlib

[@zawarudo1818]

Did i understand this? No. Did i watch the whole thing? Yes.

[@zkatt3238]

if you want less delay, use C instead of Python. Will be like a thousand times faster on a Pi (or anything)

[@samuelgunter]

even faster, use asm. even faster, write directly in machine code

[@Henrix1998]

The code isn't the bottleneck here but the sensors

[@null1023]

It's really, really nice seeing how well documented this is. I really want to build this myself now.

[@jblen]

Wow, that's crazy. I've never actually thought about what an inverted pendulum means, I just know it's what you need to ride a unicycle, so with that in mind I wonder if this Lego robot could ride a unicycle?

[@Woodledude]

There's at least one extra step missing here that basically means the answer is no. On a unicycle, you intentionally overbalance in one direction to get moving. This robot would not know to do that, or have any concept of navigation for that matter. Not to mention, this is a single axis inverted pendulum, and a unicycle not only has all three axes of rotation available, it also has two-and-some axes of movement. An attempt to convert this robot to a unicycle riding robot that could even remain stationary would be at least as complicated as making either robot from scratch, if not moreso.

[@jblen]

@@Woodledude good point. I didn't mean navigating at all, but it does make sense what you say about rotation in other axes just to try and stay upright. I suppose you could remedy that by adding a track, like if the wheel on the bottom had an axel sticking out either side, you could rest that on an elevated surface to ensure it can only fall in one dimension, and perhaps use a gear on a gear track to keep friction better.

[@Woodledude]

@@jblen Training wheels would probably be sufficient to reduce the balancing problem to effectively single axis. I have a suspicion the twist about the vertical axis might still pose unexpected issues with gyroscopic precession, but a sufficiently "calm" single-axis balancer could probably ignore that. Probably. Be interesting to see. Your track suggestion would definitely do it, but then we're reducing the problem so much as to be very nearly the original problem with a different coat of paint. On the flip side, if you can control the twist of the unicycle with gyroscopic precession, there might exist a highly optimized solution for a single-axis balancer to actually navigate effectively. I have NO idea if gyroscopic precession actually comes into play in a controllable way here, I haven't run through the logic in my head - This is all suspicion and speculation. But it's certainly interesting to muse on.

[@MoodyGooseCow]

As someone doing electrical engineering at university the trying the different numbers to see what works method really resonated with me

[@mrawesome3579]

Id like to see this made into a lego segway. That would be neat.

[@charleslambert3368]

you could also do a motorbike on a similar principle

[@888men]

I was so impressed by your video that I decided to watch the 12 min mid roll all the way through. Love the videos brother!

[@earomc]

Now make an AI that automatically figures out these PID parameters independent of the configuration.

[@95frekhaug]

This is a field of control systems that's called adaptive control. No ai needed

[@Claas-ty1se]

Me: seeing a fun lego vid with other things from a good youtuber The video: MY GOAL IS BEYOND YOUR UNDERSTANDING

[@crex-pd1vv]

im too dumb to understand whats going on

[@grace921]

same

[@wauhti6358]

BREAKFAST

[@tailsgamingchannel8554]

Your skills with Lego and engineering is so cool to see what u make for your channel with all the experiment what you do on Lego power functions and EV3

[@ZachDxn]

The fact that you got it to rise up perfect in two tries floored me lol

[@Swearinbag]

I'm just going to slap a subscription, never found your channel, suddenly happened and not disappointed at all

[@steelbrotherhoodof2359]

i agree on the suggested ideal state of the setup. and the compromise being done. you made real art.

[@steelbrotherhoodof2359]

like a bleu note.

[@steelbrotherhoodof2359]

going to watch it again.

[@txikitofandango]

Love seeing the whole process

[@konstantinl.3316]

I really like, that you show the setup, label the parts and show the code!

[@H.Kuznetsov]

Amazing!! You could use this as a balancing system to make a lego robot that does tight rope walking! Looking forward to it!!

[@Yep4115]

Honestly I have absolutely no idea what I just watched but i love it

[@ryanhewett1663]

This is really cool.

[@isaakwelch3451]

holy crap, this went so far over my head but it's amazing to watch you make this work through a pi.

[@sage5296]

This was amazing to watch, the whole thing is just sooooo cool! I loved seeing you experiment with the different configurations. The target angle curve reminds me of a sine approximation of a square wave

[@daviddaniel1485]

No clue on whats going on but I really enjoyed it

[@samuelkemp4557]

Really impressive stuff! In graduate school I made an inverted pendulum and basically just tuned a PID until it stood upright lol. Now you have a cool physical system to test more advanced control methods though!

[@LDem-xj7ex]

unbelievable the way you have edited this makes it look so easy. thanks

[@kocTomaxa]

It's awesome. No stupid music and speaches. Very inspiring videos thanks

[@myREALnameISiAM]

With a clear noise insulating box, this would be a nice desk decoration. A reminder of the constant struggle for balance ☯️

[@matthewsaxman1028]

This is one of your best videos yet, maybe THE best!

[@daviddawkins]

Only 11 minutes in and my mind is blown. Seeing you dial in the PID was amazing.

[@prussianguy4183]

This man is the TF2 Engineer

[@toxicmonsterz7470]

i really don’t understand much of this but it’s sooo interesting to watch this

[@ycl7814]

My uni graduation project is making a robot that requires some sort of self balancing technique using pid control, and the tuning process is just like this, randomly choose three numbers and see if it works, truly the spirit of engineering.

[@StayGold3333]

You've made this so approachable and informative. I found myself speaking aloud along with you as you were iterating on the variables. This was wonderful!

[@Logan-p6j]

This guy is the second Albert Einstein and he decides to work on legos, as a KZbinr. This guy could make millions with his creations

[@negativeflare]

As a guy that loves to code, this was amazing to watch. You gotta do more stuff like this man. This is freaking COOL!

[@justinnamilee]

I learned more from this video than my entire controls course. Kudos.