Balancing robots: Tilty, TiltOne

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BalancingRobots
Image of the project Balancing robots: Tilty, TiltOne
Short Description: Meta-project about balancing robots.
Coordinator: AndreaBonarini (andrea.bonarini@polimi.it)
Tutor: MartinoMigliavacca (migliavacca@elet.polimi.it)
Collaborator:
Students:
Research Area: Robotics
Research Topic: Robot development
Start: 2006/01/01
End: 2010/12/31
Status: Active

Contents

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.


Students

Students working on the project in the past

Martino Migliavacca TiltOne Implementation and controller

Alessandro Mauri Niccolo' Moretti High level behavior (tracking)

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

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

Riccardo Chiappa

Jose Contador Tilty Fuzzy controller

External personnel

Claudio Caccia, the Tilty designer.

TiltOne Youtube video

Useful internet links

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.