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Emiko Soroka edited this page Mar 21, 2020 · 4 revisions

Acrobot

This wiki is for documentation pertaining to the hardware and electrical assembly of the Acrobot.

An Acrobot is an under-actuated double pendulum; it contains only one motor yet it can swing itself upright and balance. You can see other Acrobots working here.

This Acrobot may be the first in a "family" of similar robotics mechanisms developed to demonstrate RExLab TrajectoryOptimization code controlling real hardware. It has been designed to be easily manufactured, using primarily off-the-shelf and 3D printed components. The total hardware cost is under $500.

The next steps are to connect the Acrobot motor driver to a computer running TrajectoryOptimization software, allowing it to swing upright.

Assembly guides

  1. Acrobot hardware and BOM .
  2. Acrobot hardware assembly
  3. Acrobot software (delayed by COVID-19).
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