It balances!
The inertia changes significantly as the "body" moves up and down the leg - for the controller, I got feedback gains with LQR for the maximum and minimum extension cases, and linearly interpolate between those gains as the leg extends.
Monday, July 17, 2023
Tuesday, July 4, 2023
Leg + reaction wheel doing stuff
Running off a bench supply and offboard micro, controlling with a joystick. There's an IMU attached too, so hopefully soon it'll be doing some 1-DOF balancing:
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