Controlling pendulum-like oscillations?

cadcoke5's picture

On many robots, when they move their arm, it tends to sway back and forth as the motion stops. Do you use some sort of sensor system, and active control to compensate for this swaying?

Joe Dunfee


Twitter Service






InMoov + MRL Strikes Again !

GroG's picture

Here Leonardo Triassi has made a spectacular InMoov and its now running some of the same scripts from the InMoov service page.  Soon they will be sharing Brains !!!  Great work Mr. Triassi !


ED-209, with Joystick Control

raver1975's picture

Most of the services I created manually, and used the gui to connect the services methods together.

Like joy.xaXisRaw - > panServo.move()

Here is a Python script to listen for the a certain button press:


AudioCapture Service


A simple service to record voice using a microphone

Arduino reset and serial I/O errors

bytemedwb's picture
    Well I am slowly but surely getting my InMoov hand built.  I am having an issue however with MyRobotLab.  I am looking right now just to validate that I can move and control all my servos before I mount everything in the forearm.

Tracking using 4 PID

Alessandruino's picture

Here is an attempt of tracking using 4 PID:

2 PID are for eyes tracking

2 PID are for head : the head moves in order to reduce the angle of eyes from the center (90 degrees)

  • The next step is to know what is angle range for eye's servos
  • how faster eyes movement should be, respect to the head movement : in the script i made head less responsive than eyes