Difference between revisions of "Balancing robots: Tilty, TiltOne"

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==== External personnel: ====
==== External personnel: ====
[[User:Claudio Caccia Claudio Caccia]]
[[User:Claudio Caccia | Claudio Caccia]]
=== Laboratory work and risk analysis ===
=== Laboratory work and risk analysis ===

Revision as of 15:01, 18 May 2009

Part 1: project profile

Project name

Balancing robots: Tilty, TiltOne

Project short description

This project is aimed at designing and implementing autonomous balancing robots, i.e. robots able to move on two wheels while keeping equlibrium. Characteristic features of the robots implemented at AIRLab are the possibility to drive on slopes and small obstacles and the ability to rise again in case of fall.


Start date: 2006/01/01

End date: 2010/12/31

Internet site(s)

People involved

Project leader

Andrea Bonarini


Students currently working on the project

Jose Contador Tilty Fuzzy controller

Martino Migliavacca TiltOne Implementation and controller

Alessandro Mauri Niccolo' Moretti High level behavior (tracking, obstacle avoidance)

Students working on the project in the past

Michele Antolini michele.antolini (at) tiscali (dot) it

Marco Bolognino m.bolognino (at) libero (dot) it

Riccardo Chiappa

External personnel:

Claudio Caccia

Laboratory work and risk analysis

A list of potentially dangerous (if not correctly performed) activities is included into the Safety norms of the AIRLab, which everybody MUST know to work at the AIRLab.

Laboratory work for this project is mainly performed at AIRLab/Lambrate. It includes some mechanical work as well as electrical and electronic activity. Potentially risky activities are the following:

  • Use of mechanical tools. Standard safety measures described in Safety norms will be followed.
  • Use of soldering iron. Standard safety measures described in Safety norms will be followed.
  • Use of high-voltage circuits. Special gloves and a current limiter will be used.
  • Transportation of heavy loads (e.g. robot parts). Standard safety measures described in Safety norms will be followed.
  • Robot testing. Standard safety measures described in Safety norms will be followed.
  • Death ray testing: on the robot will be mounted professor Azzoide's death ray projector. When testing it on live animals (e.g. pigeons, pigs, camels) we will make sure that people stand clear of the test area.

Part 2: project description

  • preliminary studies of the state of the art;
  • design notes and guidelines;
  • link to project documents and files (you can upload them using the Special:Upload page);
  • description and results of experiments;
  • photos and videos (they must have been uploaded with Special:Upload before you can insert them into this page);
  • link to source code of the software written for the project (you can upload it with Special:Upload);
  • advice about the configuration and the use of hardware and software;
  • useful internet links: Tilty, Balbot, nBot, Bender, DPRG gyro, Lego balancing robot, Devil
  • anything else that you think is useful to describe the project or could help people who will work on it in the future.