It balances!
The inertia changes significantly as the "body" moves up and down the leg - for the controller, I got feedback gains with LQR for the maximum and minimum extension cases, and linearly interpolate between those gains as the leg extends.
Comments from Blogger
Felipe Depine — July 18, 2023 at 03:08 PM
Very impressive! This is a difficult plant to control. Not sure if it's in the plans for future posts, but more info on the controller design would be awesome.
Ben Katz — July 18, 2023 at 03:48 PM
Thanks! More detailed reaction wheel post in the works.
Anonymous — July 19, 2023 at 04:45 AM
Beautiful :))