View source for Balancing robots: Tilty, TiltOne

{{Project
|title=BalancingRobots
|image=Tiltone 2.png
|short_descr=Meta-project about balancing robots.
|coordinator=AndreaBonarini
|tutor=MartinoMigliavacca
|resarea=Robotics
|restopic=Robot development
|start=2006/01/01
|end=2010/12/31
|status=Active
}}
=== 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 currently working on the project'''

[[User:MartinoMigliavacca | Martino Migliavacca]] TiltOne Implementation and controller

[[User:AlessandroMariaMauri| Alessandro Mauri]] [[User:NiccoloMoretti | Niccolo' Moretti]] [[BehaviorTiltingRobot | 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

[[User:RiccardoChiappa | Riccardo Chiappa]]

[[User:JoseContador | Jose Contador]] Tilty Fuzzy controller

==== External personnel ====

[[User:Claudio Caccia | Claudio Caccia]], the Tilty designer.

== TiltOne Youtube video ==
{{#ev:youtube|PFjlmcTbGVs}}
*[http://www.youtube.com/watch?v=PFjlmcTbGVs External link]

=== Useful internet links ===
[http://www.balbots.com/ Balbot], [http://www.geology.smu.edu/~dpa-www/robo/nbot/ nBot], [http://www.tedlarson.com/robots/balancingbot.htm Bender], [http://www.dprg.org/projects/2003-01a/ DPRG gyro], [http://www.youtube.com/watch?v=V40ScvJeFxg Lego balancing robot], [http://www.barello.net/Papers/Balancing%20Robot%20Seminar.pdf Devil]

=== Laboratory work and risk analysis ===
A list of potentially dangerous (if not correctly performed) activities is included into the [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf 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 [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Use of soldering iron. Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf 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 [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.
* Robot testing.  Standard safety measures described in [http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf Safety norms] will be followed.