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Pendulum-Balancing Quadrotor Learns Some New Tricks

That clever little quadrotor that knows how to balance an inverted pendulum has gotten even more talented

1 min read
Pendulum-Balancing Quadrotor Learns Some New Tricks

pendulum balancing robot eth zurich flying machine arena

Raffaello D’Andrea and his disciples at ETH Zurich love to build beautiful robots—a robotic cube that balances on one corner, modular flying robots that self-assemble, a pair of quadrotors that can juggle a ball together.

More recently, D’Andrea and Markus Hehn have demonstrated a quadrotor capable of balancing an inverted pendulum in flight. Now this clever little flying machine has gotten even more talented. It’s learned how to fly sideways, up and down, and in circles while keeping the pendulum stable. Watch:

The quadrotor is not doing everything by itself. It’s getting help from the environment, an enclosed space called the Flying Machine Arena, which is equipped with multiple motion capture cameras. The researchers devised algorithms to transform the vision data from the cameras into control commands for the quadrotor. The machine can hover in place or it can follow pre-programmed trajectories. Manual control is also possible using a “set point tracking” device.

Hehn and D’Andrea, an IEEE Fellow and co-founder of Kiva Systems, which develops warehouse automation robots (disclosure: he’s also a member of IEEE Spectrum’s editorial advisory board), describe the project in a paper, “A Flying Inverted Pendulum,” presented today at the IEEE International Conference on Robotics and Automation (ICRA), in Shanghai.

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The Bionic-Hand Arms Race

The prosthetics industry is too focused on high-tech limbs that are complicated, costly, and often impractical

12 min read
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A photograph of a young woman with brown eyes and neck length hair dyed rose gold sits at a white table. In one hand she holds a carbon fiber robotic arm and hand. Her other arm ends near her elbow. Her short sleeve shirt has a pattern on it of illustrated hands.

The author, Britt Young, holding her Ottobock bebionic bionic arm.

Gabriela Hasbun. Makeup: Maria Nguyen for MAC cosmetics; Hair: Joan Laqui for Living Proof
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In Jules Verne’s 1865 novel From the Earth to the Moon, members of the fictitious Baltimore Gun Club, all disabled Civil War veterans, restlessly search for a new enemy to conquer. They had spent the war innovating new, deadlier weaponry. By the war’s end, with “not quite one arm between four persons, and exactly two legs between six,” these self-taught amputee-weaponsmiths decide to repurpose their skills toward a new projectile: a rocket ship.

The story of the Baltimore Gun Club propelling themselves to the moon is about the extraordinary masculine power of the veteran, who doesn’t simply “overcome” his disability; he derives power and ambition from it. Their “crutches, wooden legs, artificial arms, steel hooks, caoutchouc [rubber] jaws, silver craniums [and] platinum noses” don’t play leading roles in their personalities—they are merely tools on their bodies. These piecemeal men are unlikely crusaders of invention with an even more unlikely mission. And yet who better to design the next great leap in technology than men remade by technology themselves?

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