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.

Robot climbs the slide and gazes upon the sky
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