Torsobot
Overview
Torsobot in action!
Torsobot is a self-balancing rimless wheel robot built to investigate fundamental properties of human walk cycle. I enhanced its stability using PID control, redesigned and built its curret chasis, and implemented a dual gear drive system.
The robot is programmed with ROS and operates on a combination of Raspberry Pi and Arduino.
Bevel Gear Dual Drive
The updated design replaces the previous system's pulley belt drive, which consistently introduced noise due to slippage issues, with a bevel gear dual drive system to enhance efficiency and reduce noise. Additionally, I designed a "backpack" that secures its battery, sensors, and regulator in place while also allowing easy access.
Push-off Mechanism
I also designed an independent push-off mechanism using crank-piston linear actuators. Suspended from the wheel shaft, this system harnesses torque from the wheels to deliver a consistent "kick" each time Torsobot's "feet" is about to leave the ground, independent of its lean angle.
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