Robot on a swing
This week I was experimenting with unstable robot behaviour, namely pumping a swing:
I tried various strategies like periodically turning robot on one leg, moving leg up an down aligned with swing seat or perpendicular to it. Apparently pumping a swing is quite a complicated process. In practice it is possible to achieve some results with a simple periodic motion. In the video above robot starts moving up and down with a period of 0.6s and decreases period by 2ms every swing. Motor acceleration speed also affects swing pumping so it had to be tuned.