We are thrilled to see Robotae’s collaboration with sculptor Antoine Espinasseau featured in the latest edition of the official Raspberry Pi Magazine (pages 16-17). It’s a fantastic look at the project, and for those interested in the finer technical details, here are a few clarifications on the engineering behind it:

Control Loop: To maintain high control bandwidth, the control loop runs every 10 milliseconds (rather than 10 seconds)

Reaction Wheel: During initial testing, the reaction wheel’s center-of-mass was positioned too far from the hub axis, not too close

Complementary Filter: This filter is designed to adjust for drift in the gyroscope, not the accelerometer

Lead Times: The Harmonic Drives had a six month lead time, not two years

https://magazine.raspberrypi.com/issues/162