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Leanerd is a unique, two-wheeled balancing robot that I started designing in June, 2006. This site also contains a very good list of other projects). The Swiss Federal Institute of Technology's Joe le Pendule. Another solution is to build a robot that balances in two directions on a sphere like Ralph Hollis' Ballbot. Leanerd leans into a turn. Leanerd smoothly travels over uneven terrain. Click on an item in the list for a detailed description of Leanerd's design. Leanerd's hardware is complete, assemble...

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Troy Carter

938 Cla●●●●●●● Apt 20

Moun●●●●View , California, 94040

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949●●●996

tr●●●●●●●●@stanfordalumni.org

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Troy Carter

938 Cla●●●●●●● Apt 20

Moun●●●●View , California, 94040

United States

949●●●996

tr●●●●●●●●@stanfordalumni.org

View this contact

Troy Carter

938 Cla●●●●●●● Apt 20

Moun●●●●View , California, 94040

United States

949●●●996

tr●●●●●●●●@stanfordalumni.org

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Leanerd is a unique, two-wheeled balancing robot that I started designing in June, 2006. This site also contains a very good list of other projects). The Swiss Federal Institute of Technology's Joe le Pendule. Another solution is to build a robot that balances in two directions on a sphere like Ralph Hollis' Ballbot. Leanerd leans into a turn. Leanerd smoothly travels over uneven terrain. Click on an item in the list for a detailed description of Leanerd's design. Leanerd's hardware is complete, assemble...

<META> KEYWORDS

1 by troy carter

2 contents

3 introduction

4 design

5 status

6 david anderson's nbot

7 ted larson's bender

8 mechanical design

9 sensors

10 electronics

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by troy carter,contents,introduction,design,status,david anderson's nbot,ted larson's bender,mechanical design,sensors,electronics,control laws,software,leanerd's brain,leanerd's completed chassis,hello leanerd

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Troy's-Toys Home | troys-toys.net Reviews

https://troys-toys.net

Leanerd is a unique, two-wheeled balancing robot that I started designing in June, 2006. This site also contains a very good list of other projects). The Swiss Federal Institute of Technology's Joe le Pendule. Another solution is to build a robot that balances in two directions on a sphere like Ralph Hollis' Ballbot. Leanerd leans into a turn. Leanerd smoothly travels over uneven terrain. Click on an item in the list for a detailed description of Leanerd's design. Leanerd's hardware is complete, assemble...

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troys-toys.net

1

Leanerd's Electronics

http://www.troys-toys.net/Electronics.htm

Leanerd's primary electronic components and their locations are shown in the image below. The interface board and motor driver boards are custom boards. These boards were designed using the free version of CadSoft's Eagle. Software for schematic capture and layout. The boards were manufactured by Olimex. Custom boards as delivered from Olimex. The DSP board, interface board, and Bluetooth module plug into each other to form an integrated robot control system as shown below. The evaluation board has a bui...

2

Leanerd's Control Laws

http://www.troys-toys.net/Control.htm

The chart below shows the conceptual layout of Leanerd's control laws. The control laws consist of inner feedback loops to control the wheel speeds, an outer loop to balance, and another outer loop to control the forward speed of the robot. Additionally, there will be a control loop to control the lean angle as Leanerd makes sharp turns and travels over uneven terrain. Please email comments to troy@troys-toys.net. Please use this link or type Leanerd Comments. In the comment section of your email).

3

Leanerd's Mechanical Design

http://www.troys-toys.net/Mechanical.htm

Wheels, Shafts and Bearings. Sensor and Motor Driver Mounts. Leanerd consists of three major subassemblies: the control box, the mast, and the chassis. The control box contains the controller, the signal conditioning circuit board, batteries, switches, battery charger connectors, radio receiver, Bluetooth. The main disadvantage of this arrangement is that the sensors are a fair distance from the controller and may be susceptible to noise. The signal conditioning board, motor driver boards, and wiring...

4

Troy's-Toys Home

http://www.troys-toys.net/index.htm

Leanerd is a unique, two-wheeled balancing robot that I started designing in June, 2006. This site also contains a very good list of other projects). The Swiss Federal Institute of Technology's Joe le Pendule. Another solution is to build a robot that balances in two directions on a sphere like Ralph Hollis' Ballbot. Leanerd leans into a turn. Leanerd smoothly travels over uneven terrain. Click on an item in the list for a detailed description of Leanerd's design. Leanerd's hardware is complete, assemble...

5

Leanerd's Software

http://www.troys-toys.net/Software.htm

The DSP software is written in C using Texas Instrument's Code Composer. Leanerd's software uses a simple round-robin with interrupts architecture. Interrupt service routines are used to handle urgent tasks like sampling sensors, updating the SCI transmit buffer and measuring the RC radio pulses. A timed interrupt is also used to set flags and schedule tasks to be completed in the main loop. Please email comments to troy@troys-toys.net. Please use this link or type Leanerd Comments.

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Leanerd is a unique, two-wheeled balancing robot that I started designing in June, 2006. This site also contains a very good list of other projects). The Swiss Federal Institute of Technology's Joe le Pendule. Another solution is to build a robot that balances in two directions on a sphere like Ralph Hollis' Ballbot. Leanerd leans into a turn. Leanerd smoothly travels over uneven terrain. Click on an item in the list for a detailed description of Leanerd's design. Leanerd's hardware is complete, assemble...

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