In this video, I explain my path to creating my ball-balancing robot and how I control the trajectory of the ball. #engineering #robot #handmade github: github.com/KoshiroRobot/Ball-...
As someone who is only just starting with robotics I think this is an 10/10 video. Everything is explained clearly and with a lot of detail, the robot looks sick, and everything is open source. I honestly think YT needs more videos like this one.
I'm definitely curious to see where this project goes. I hope you keep keeping the technical bits in, even if it doesn't always flow with the algorithm.
Excellent well thought out and executed project utilizing multiple scientific disciplines as well as software development to facilitate the mechanical and electrical needs. Well done Sir !!! Maybe this is the next multi-million dollar science toy / teaching tool for engineering, physics, and software disciplines.
I really enjoyed this and could see the huge amount of work that went into it. I ran away with the idea though that you were going to have the ball returning to centre, but it doesn't look as though you would find that difficult to achieve. Thanks for the entertainment and learning.
amazing video!!! well done in my control class (which is years ago) I remember something about using the Fourier transform to fine tune Kp, Kd, and Ki, would be cool if you include that in the next video, would be cool even without, thank you!
Very well done! But, I can't resist. "Fix the motor to the base and attach the link to the motor." Interlinked! "The motor can now transmit power to the link." Interlinked! "Place the bearing at the end of the link and attach another link." Interlinked! Interlinked! Within cells interlinked! Within cells interlinked! Within cells interlinked! :)
Ive seen many of these videos but the impressive part is how clean and compact it is.Just a few pointers: •You could use a much powerful overhead camera. •Ball joints are producing a little unrequited wobble for the plate. •The algorithm to reject noise could pose a problem during bouncing the ball as it needs to determine the size of the ball. Overall this is a great project considering how well you explained it.👍🏻
These kinds of robotics projects are way more interesting to me than the usual attempts to make something more humanoid, as fun as those can be, because the potential applications are so much more broad. For example, the principles and formulas you used here are also used to adjust solar and mirror arrays as the sun moves across the sky.
Fantastic video, but i think getting the robot to bounce the ball may not be as hard as you think. For one, there seems to be a impedance mis-match between the material you have chosen, so the ball doesn't bounce very high off the first bounce, and without a second camera to help predict where the ball is going to land, your robot has very short reaction window. So improving the impedance mis-match between the two materials you have chosen (hardness, density, elasticity) will get the ball to bounce higher, and you may need to add a second camera to help with position when the ball is in the air. but overall great video.
Great video! I hope you get deeper in the weeds, maybe with IK motion interpolation, and predictive PDI control loops, In future videos. It looks on visual inspection, like the platform can't move fast enough to bounce the ball, so to my eyes it's an impedance problem.
Ping Pong 🏓 would be a great idea…Then make two and have em play each other with the ability to improve accuracy. (automatically maybe) Great video. BTW 😁
It's really cool. I was wondering if you'd be kind enough to pls share how you formulated the inverse kinematics. Perhaps as a document, in the description?
Cool. What other ways can the same thing be accomplished? A neutral net approach? Like an animal doing the same? Different sensors, such as lidar, run at a frequency that sees through the plate. Radar? Force feedback (gravity) Could you use solenoids as actuators instead of motors (like speaker drivers) to get more sensitive feedback and faster response times? How about a magnetic sensor, hall effect. The ball could be ferromagnetic. And lastly (not really, but it's getting long) how about treating the actuators like octopus tentacles? Each one with its own microcontroller. A central microcontroller could coordinate them, in case of something more advanced than static balancing (it would say, keep the mass at x,y then the tentacles would feel the weight and distribute the forces accordingly). Anyway, really cool and very beautiful device!
Thank you for watching. You have some amazing ideas and it's incredible how they keep coming! I think controlling the robot by inputting images and sensor data into a neural network to output the robot's actions is very appealing. Such a robot would feel more like it has life rather than just being a machine. Ultimately, this is what I'm aiming for in my graduation research. Thank you for the other great ideas as well. I will incorporate them into future projects.
I like this, i would like a video how to connect OV7670 wires... Friend and i got stuck trying to connect robot eyes to follow fingers and ball. Fantastic experience and effort.
You can estimate height by the size of the image of the ball. Calibrating images of the ball on the platform at known heights could even give you a lookup table of size::height estimates as a baseline.
@@wilkstube I assumed it was something like. With a known default position of the platform, and assuming the object is a ball, it's diameter can be calculated based on the image. I know he's good for the math on that one, after the inverse kinematics lol.
Great video. I’ve seen many CZcams channels complete this project and gloss over the inverse Kinematics. A full video working through this derivation would be extremely helpful. How does the control algorithm work if it’s over constrained with 3 actuators instead of just 2?
@@Koshiro_Robot_Creator All it would take - if I'm thinking about this right - is longer arms and a quick update to the arm length in the kinematics of the Brains.
Hi, are you based in Japan? I'm a software engineer very intrigued by AI, i want to know if there are communities or labs dedicated there...thx for your work btw, superb.
It would be interesting to have another robot pick up the fallen ball back on the plate and then do million bouncing tries to train an AI that could bounce the ball even with the "low" framerate
In this video, I failed to bounce the ball. I think a camera with a higher frame rate or an algorithm to predict the trajectory of the ball between frames is needed to successfully bounce the ball.
@@ThainaYu In this video, the height is determined by the algorithm of the pinhole camera model, which is not very accurate. I think the means you are describing would be very useful for successful bouncing of the ball.
@@Koshiro_Robot_Creator That assumption should be fine for most things, but to jump the ball, for the precise z, you'll want to solve the tangent sphere problem. You could also calibrate the diameter more precisely with that same algorithm. (I brought something up like this in another thread just a second ago).
1) i think your image might be suffering from fish-eye distortion because the square it made was not proper... have you tried distortion correction algorithms? 2) you should stepper motor actuators and limit switches for zeroing the actuators... this way you can limit the jitter by tuning the control loop yourself.
Thanks for watching! 1. Indeed, the camera is not calibrated in this video. It might be more accurate if the distortion is taken into account. 2.Your point is very interesting as I am planning to build a smart servo in my next project.
@@Koshiro_Robot_Creator Curious if there's a latency to the camera, that would also explain some jitter. Also, note that servo is sort of the "opposite" of a stepper motor. Servos do jitter to some extent, stepper motors do not
I wouldnt use open CV for such a simple job. and nah i don t think you process 60 fps with your rig. adapt a code for this yourself, in c++ should take something like 100 to 150 lines, and will be faster, you don t need to track the ball, just to 'find' where its center of mass is. That s the problem with newbees, they always take the problems reversed. the real challenge at high frame frate vision is the code in its creativity.
Pretty good AI voice, I didn’t catch that. Very disingenuous of the creator though. I would be worried about the software download, if the author bought the narrator and has no future plans but a project specific youtube channel name… what’s the goal?
Amaizing video, this is the project she tells me not to worry about.
As someone who is only just starting with robotics I think this is an 10/10 video. Everything is explained clearly and with a lot of detail, the robot looks sick, and everything is open source. I honestly think YT needs more videos like this one.
Bro just open my eyes on PID control
Just the fact that you're using Blender in Japanese is pretty badass and deserves a sub 🤣👌🏻 Not to mention the great content 👏🏻
It's just so nice when CZcams does recommend something great in the feed.
7:44 nice explanation of PID controller 🙌
Thank you for sharing this project, this is one of the best videos showing a balancing robot. I subscribed to you man, keep up the good work.
You explained this in a very easy to digest manner.
This vid gonna blow up someday for sure... Subbed! Brilliant video
Thank you!
it kinda is blowing up
1:48 very nice cup ;-)
Best explanation of PID control I have ever seen in 18 years !!
Awesome build
Nice work ! Very well explained
Very cool, if you ever do it again, make it a Robotern holding a ping pong Paddel. That could develop into a full blown ping pong robot
That sounds like an interesting project.
I'm definitely curious to see where this project goes. I hope you keep keeping the technical bits in, even if it doesn't always flow with the algorithm.
Excellent project and hope you keep them coming! Subbed for the inspiration
thumbnails: "never falls"
1st 10 seconds: falls
Excellent well thought out and executed project utilizing multiple scientific disciplines as well as software development to facilitate the mechanical and electrical needs. Well done Sir !!!
Maybe this is the next multi-million dollar science toy / teaching tool for engineering, physics, and software disciplines.
Very nice project!
I like the usage of a camera lo track the ball, and having it underneath for a compact design.
This was awesome man. New subscriber ✌🏻
Great video, thank you for sharing
cool as heck. the design of the robot is also very well aesthetically pleasing; the math is made simple thanks to the explanations. good job. sub'ed
I really enjoyed this and could see the huge amount of work that went into it. I ran away with the idea though that you were going to have the ball returning to centre, but it doesn't look as though you would find that difficult to achieve. Thanks for the entertainment and learning.
Thank you!
right. very detailed and thought out. then "guess" the pid 😅😊😂
Very nice presentation, I discovered you today and I have subcribed to your channel. Well done! Thanks for sharing!
Really great work!
Very difficult task, very impressive project and solution.
a great explanation on a PID controller
I love your work.
amazing video!!! well done
in my control class (which is years ago) I remember something about using the Fourier transform to fine tune Kp, Kd, and Ki, would be cool if you include that in the next video, would be cool even without, thank you!
nice project, you won a sub, i hope you'll do more :D
Very well done! But, I can't resist. "Fix the motor to the base and attach the link to the motor." Interlinked! "The motor can now transmit power to the link." Interlinked! "Place the bearing at the end of the link and attach another link." Interlinked! Interlinked! Within cells interlinked! Within cells interlinked! Within cells interlinked! :)
Well played, maybe it could even run from 2049 blades
This robot would make a great eye with depth perception....
Bioptic, flexible lenses like contacts... I am too analog.... I will marinate a bit. That solution is really awesome to say the very very least.
Just thinking the difficulty level if we try to balance two balls at the same time :)
BTW, great work. highly appreciated.
Really cool! Could it absorb the bounce prior to balancing?
Awesome
それは素晴らしいのプロジェクトですよ。I am so impressive. I like it.
Ive seen many of these videos but the impressive part is how clean and compact it is.Just a few pointers:
•You could use a much powerful overhead camera.
•Ball joints are producing a little unrequited wobble for the plate.
•The algorithm to reject noise could pose a problem during bouncing the ball as it needs to determine the size of the ball.
Overall this is a great project considering how well you explained it.👍🏻
The issues of this robot are accurately pointed out. Thank you!
awesome!! such a channel is exactly what I was looking for 🤩
3D printet Robots for tinkerers 😁
These kinds of robotics projects are way more interesting to me than the usual attempts to make something more humanoid, as fun as those can be, because the potential applications are so much more broad. For example, the principles and formulas you used here are also used to adjust solar and mirror arrays as the sun moves across the sky.
That's an interesting perspective!
This ball balancing robot will control the world one day with it's magic.
Fantastic video, but i think getting the robot to bounce the ball may not be as hard as you think. For one, there seems to be a impedance mis-match between the material you have chosen, so the ball doesn't bounce very high off the first bounce, and without a second camera to help predict where the ball is going to land, your robot has very short reaction window. So improving the impedance mis-match between the two materials you have chosen (hardness, density, elasticity) will get the ball to bounce higher, and you may need to add a second camera to help with position when the ball is in the air. but overall great video.
Great insight! I'll incorporate it into future projects. Thank you!
Echo... nice video!
Great video! I hope you get deeper in the weeds, maybe with IK motion interpolation, and predictive PDI control loops, In future videos.
It looks on visual inspection, like the platform can't move fast enough to bounce the ball, so to my eyes it's an impedance problem.
I appreciate the great advice! I'm really interested in those topics!
At a glance you are using sight to know the position of the ball, I’d like it to use weight so it can be a never spill coffee cup holder for the car.
That sounds interesting.
Ping Pong 🏓 would be a great idea…Then make two and have em play each other with the ability to improve accuracy. (automatically maybe) Great video. BTW 😁
Making the robots play ping pong against each other sounds interesting.
@@Koshiro_Robot_Creator …especially interesting if they could be taught how to improve themselves. One step at a time though.
Machine learning? @@wearemany73
cool
It's really cool. I was wondering if you'd be kind enough to pls share how you formulated the inverse kinematics. Perhaps as a document, in the description?
Or a separate video. I would watch it, for sure! I was a bit sad that he just brushed it off as tedious and boring.
Let's make that video! Please wait a few days.
I’m curious to hear more about how you used the golden ratio in the design
The golden ratio is incorporated into the lengths of the links and the size ratio between the platform and the robot's base.
Cool.
What other ways can the same thing be accomplished?
A neutral net approach? Like an animal doing the same?
Different sensors, such as lidar, run at a frequency that sees through the plate. Radar?
Force feedback (gravity)
Could you use solenoids as actuators instead of motors (like speaker drivers) to get more sensitive feedback and faster response times?
How about a magnetic sensor, hall effect. The ball could be ferromagnetic.
And lastly (not really, but it's getting long) how about treating the actuators like octopus tentacles? Each one with its own microcontroller. A central microcontroller could coordinate them, in case of something more advanced than static balancing (it would say, keep the mass at x,y then the tentacles would feel the weight and distribute the forces accordingly).
Anyway, really cool and very beautiful device!
Thank you for watching. You have some amazing ideas and it's incredible how they keep coming!
I think controlling the robot by inputting images and sensor data into a neural network to output the robot's actions is very appealing. Such a robot would feel more like it has life rather than just being a machine. Ultimately, this is what I'm aiming for in my graduation research.
Thank you for the other great ideas as well. I will incorporate them into future projects.
Next step: use Reinforcement Learning to do these tasks! Perhaps you can solve the bouncing ball problem with it.
Why does the narration sound like AI text-to-voice?
Because you don't know how it sounds
I think it is since the creator is Japanese and the narrators english is way too fluent(not saying it isn’t possible)
@@beekdorrr Ah I see! Didn't realize the creator was japanese, thanks!
Because it is.....
お願いしますが、どの音声AIを使ってナレーションしているか教えてください。とて何かはかっこよくて、声もいいですね
3D movement requires 3D/2.5D vision, like a camera from the side, to be accurate.
ball have fixed constant size, and camera is not telecntric, so you can track height by measuring pink circle size.
damn so cool
Derivations should deserve one video on this own right, think about it
👍👍
I like this, i would like a video how to connect OV7670 wires... Friend and i got stuck trying to connect robot eyes to follow fingers and ball. Fantastic experience and effort.
to me, this is a project illustrating cybernetics.
for doing the balancing you wouldn't need a second camera? that will lead to a more precise calculation of distance. Nice project!
Thanks for taking a look...I think using two cameras is a great way to go.
You can estimate height by the size of the image of the ball. Calibrating images of the ball on the platform at known heights could even give you a lookup table of size::height estimates as a baseline.
no you don t need 2 cameras, you need a wide angle cam only / ball radius. enough to bounce the ball
@@wilkstube I assumed it was something like. With a known default position of the platform, and assuming the object is a ball, it's diameter can be calculated based on the image. I know he's good for the math on that one, after the inverse kinematics lol.
Great video. I’ve seen many CZcams channels complete this project and gloss over the inverse Kinematics. A full video working through this derivation would be extremely helpful. How does the control algorithm work if it’s over constrained with 3 actuators instead of just 2?
I plan to make a video about that. Please wait a bit.
Have you been following Harrison Low's juggling robot experiments?
www.youtube.com/@harrisonlow
Maybe you two could collaborate in future?
I just followed him. The movements of his robot are beautiful. It would be amazing if we could collaborate in the future.
@@Koshiro_Robot_Creator I sent him a link to you video. He does regular live streams and I am sure he would be very happy if you reached out.
Can you turn it upside down and make it balance on top of the ball?
This robot cannot do that. However, creating a project to make such a robot sounds interesting.
@@Koshiro_Robot_Creator All it would take - if I'm thinking about this right - is longer arms and a quick update to the arm length in the kinematics of the Brains.
Hi, are you based in Japan? I'm a software engineer very intrigued by AI, i want to know if there are communities or labs dedicated there...thx for your work btw, superb.
Is it just me or was that the least 'bouncy' bouncy ball
Awesome Project. Are you gonna release complete plans and STL's for it?
Thanks for watching! You can download it here.
github.com/KoshiroRobot/Ball-Balancing-Robot
Amazing project.
How many hours did you spend on building this robot?
Thanks for watching! Maybe a month or so?
ball control and cameras, am I missing something in the description,
I kinda wanna find light weight version of this , and mounted on my rc 75mm tinywhoop. If the price very cheap, and available in my country.
Try using a global shutter camera module
I thougth this video was very intereting
Thanks for watching.
No problem. I love this Kind of content. Keep on doing what you're doing.
Wow - I confidently predicted you would need to use fuzzy logic to control the platform but it seems I was wrong.
It would be interesting to have another robot pick up the fallen ball back on the plate and then do million bouncing tries to train an AI that could bounce the ball even with the "low" framerate
FreeCAD FTW!
yay for Opensource software: Blender and Freecad, Python and OpenCV
0:28 откуда советский объектив ?
Did you use AI for some/all of the voiceover?
Yes, I used AI for the voiceover as I'm not good at speaking English.
@@Koshiro_Robot_Creator I think you did a good job with it. I didn't notice for a while, until a few words stood out. What model did you use?
very cool project, I wanna try remix it a bit, some of the parts are not available, please check that
Thank you for watching! I have added a new folder "Parts_Details" on GitHub. Please check it out.
github.com/KoshiroRobot/Ball-Balancing-Robot
@@Koshiro_Robot_Creator Thank you so much. i appreciate
Weird question but is this your voice or text-to-speech?
How is this relevant to the video ?
@@robotboy3525 I'm just asking a question
I am using voice generation from Filmora.
@@Koshiro_Robot_Creator Thanks, I was just asking as I was second-guessing myself, since it's very convincing!
next step might be fine tuning the K gain with continuous machine learning?
In this video, I failed to bounce the ball.
I think a camera with a higher frame rate or an algorithm to predict the trajectory of the ball between frames is needed to successfully bounce the ball.
@@Koshiro_Robot_Creator I think you need depth camera or multi camera to analyze depth to add precise z dimension for that
@@ThainaYu In this video, the height is determined by the algorithm of the pinhole camera model, which is not very accurate. I think the means you are describing would be very useful for successful bouncing of the ball.
@@Koshiro_Robot_Creator That assumption should be fine for most things, but to jump the ball, for the precise z, you'll want to solve the tangent sphere problem. You could also calibrate the diameter more precisely with that same algorithm. (I brought something up like this in another thread just a second ago).
1) i think your image might be suffering from fish-eye distortion because the square it made was not proper... have you tried distortion correction algorithms?
2) you should stepper motor actuators and limit switches for zeroing the actuators... this way you can limit the jitter by tuning the control loop yourself.
Thanks for watching!
1. Indeed, the camera is not calibrated in this video. It might be more accurate if the distortion is taken into account.
2.Your point is very interesting as I am planning to build a smart servo in my next project.
@@Koshiro_Robot_Creator Curious if there's a latency to the camera, that would also explain some jitter. Also, note that servo is sort of the "opposite" of a stepper motor. Servos do jitter to some extent, stepper motors do not
Böyle bir çalışmayı yapana destek olmayayım da , kime abone olayım :) . gerçekte süper çalışma
Is the voice in this video ai?
Edit ok yea it is 😭 nobody says raspi like that
Who is "we" ?
I wouldnt use open CV for such a simple job. and nah i don t think you process 60 fps with your rig. adapt a code for this yourself, in c++ should take something like 100 to 150 lines, and will be faster, you don t need to track the ball, just to 'find' where its center of mass is. That s the problem with newbees, they always take the problems reversed. the real challenge at high frame frate vision is the code in its creativity.
too large response time, or camera FPS
Good video but your memes and transitions are so cringe, please stop that.
Ai?
no way, good old fashioned engineering and equations.
@@fluke196c the voice, I'm talking about the voice.
@@Mistyre The voice is AI. Thanks for watching.
@@Koshiro_Robot_Creator no problem
Pretty good AI voice, I didn’t catch that. Very disingenuous of the creator though.
I would be worried about the software download, if the author bought the narrator and has no future plans but a project specific youtube channel name… what’s the goal?
copy cat? I saw the same thing in other channel.
copy cat i bet you copied off of Aaed Musa
お願いしますが、どの音声AIを使ってナレーションしているか教えてください。とて何かはかっこよくて、声もいいですね
I used Wondershare Filmora.