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. Tilty has an A4 footprint, while Tiltone, is based on cross-bike Wheels.
Start date: 2006/01/01
End date: 2010/12/31
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
Claudio Caccia, the Tilty designer.
Useful internet links
Tilty, Balbot, nBot, Bender, DPRG gyro, Lego balancing robot, Devil
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.