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Learn the differences between motion profiles! 💨 A real demonstration of engineering skills. In each robotic arm, in each legged robot, you will discover actuators that make the robot move! Let's compare two motion profiles: rectangular and trapezoid. - A rectangular motion profile is like a car with abrupt...

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Lukas Ziegler

62,349 subscribers

112,393 Aufrufe • vor 9 Monaten •via X (Twitter)

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15 Kommentare

Profilbild von Engineering Randomness
Engineering Randomnessvor 9 Monaten

You stopped too soon. You need a 4th order TG.

Profilbild von Adam
Adamvor 9 Monaten

That’s exactly how I press on my brakes in my car so I don’t have the backward head jolts. I move forward in my seat when I brake, but do not shoot backward when fully stopped. Cool to see the ‘math’ of how I drive.

Profilbild von Dog of War
Dog of Warvor 9 Monaten

Show me an S-profile with minimised jerk

Profilbild von Andreas Köpf
Andreas Köpfvor 9 Monaten

In Germany the🍺 demo is allowed only with jerk limited s-curve velocity profile:

Profilbild von far
farvor 9 Monaten

bet there is some connection to window functions like the hanning window here

Profilbild von TensorFleet
TensorFleetvor 9 Monaten

Great demo! Rectangular (aggressive) for sprint bots. Trapezoidal for liquids, cameras, and fragile end effectors.

Profilbild von NiceDreamz
NiceDreamzvor 9 Monaten

been tyrin to smooth out my commands ,, thanks this gives me something to work on

Profilbild von Gal Zajc (100% e-acc)
Gal Zajc (100% e-acc)vor 9 Monaten

nice! interesting question would be what's the acceleration a(t) such that the drink doesn't spill and it goes from one side to the other in a smallest amount of time

Profilbild von Mikhail Grigorov
Mikhail Grigorovvor 9 Monaten

Was it really necessary to use beer? It goes bad, you know!

Profilbild von SKAKKK
SKAKKKvor 9 Monaten

Nice explanation! Feels like Trapezoidal is some sort of Low pass filter equivalent in Electronic circuits.

Profilbild von Altiam Kabir
Altiam Kabirvor 9 Monaten

Great breakdown of motion profiles! Smoothness vs. speed is key. Any favorite applications for each?

Profilbild von vulpes grumpes
vulpes grumpesvor 9 Monaten

Oh huzzah. You showed impulse vs smoothed impulse response, and the effects of inertial dampening with fluid dynamics. *slow claps*

Profilbild von TheRearAdmiral
TheRearAdmiralvor 9 Monaten

jerk on, jerk off

Profilbild von Paradroid B.Pie
Paradroid B.Pievor 9 Monaten

Excellent! RE: Trapezoidal Have you considered different approaches to the smoothing algo? Use regular low pass (can include overshoot), critically damped (ensures best time to target with no overshoot). For extra points, you can go "spring and damper" for these too.

Profilbild von Fairooz Choudhury
Fairooz Choudhuryvor 9 Monaten

Fascinating breakdown of motion profiles! Great insights.

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This is what open robotics actually looks like! 🔓 I was in Bordeaux, sitting inside Pollen Robotics, and had a chance to play around with their humanoid robot Reachy 2. It’s expressive, modular, and can even bring you coffee, and of course runs Python or Rust. I was talking with Reachy in 3 different languages, tele-operating it and manipulating kitchen stuff, and make it even mimic my gestures. The best part is that there are no locked APIs, or hidden stuff, just an open platform that you can build upon. The connection with Hugging Face makes it super easy to start, as the open source approach allows everyone to contribute, experiment and add their own things. I already ordered his little brother Reachy Mini, let's see what a robotics rookie can do with that robot! 👀 ~~ ♻️ Join the weekly robotics newsletter, and never miss any news →
1:36

This is what open robotics actually looks like! 🔓 I was in Bordeaux, sitting inside Pollen Robotics, and had a chance to play around with their humanoid robot Reachy 2. It’s expressive, modular, and can even bring you coffee, and of course runs Python or Rust. I was talking with Reachy in 3 different languages, tele-operating it and manipulating kitchen stuff, and make it even mimic my gestures. The best part is that there are no locked APIs, or hidden stuff, just an open platform that you can build upon. The connection with Hugging Face makes it super easy to start, as the open source approach allows everyone to contribute, experiment and add their own things. I already ordered his little brother Reachy Mini, let's see what a robotics rookie can do with that robot! 👀 ~~ ♻️ Join the weekly robotics newsletter, and never miss any news →

Lukas Ziegler

19,433 Aufrufe • vor 8 Monaten