Hello!

Hi,

My name is Peter Wasilewski and currently I'm studying Robotics and Automation on Bialystok University of technology. Having read a few interesting technical blogs I decided to create my own place for documenting my projects and ideas. I hope this will help me organise the ongoing projects, and I will be motivated enough to not abandon this idea of documenting stuff too soon.

First a few words about the projects that I'm currently working on. I've been interested in walking robots for few years now. They are a particularly absorbing subject due to the fact that they evolve really quickly these days. Just look at Laikago, Spot mini or Anymal robots - incredible pieces of engineering.

A few years back there were almost none off-the-shelf low-cost actuators which would fulfill the requirements of a walking robot, so I decided to create my own actuators. I was aiming for brushless motors. It took me about a year to spin my first brushless motor using FOC technique. Since then it was all about choosing the right gearbox and gathering more information about the motors and control techniques. Now, each time I read something new about the motors I realize how much more there is to know. A few months back I finished the mechanics of a quadrupedal robot, based on brushless actuators and cycloidal gears. It is able to stand on it's feet and manipulate it's body, however it is to fragile to preform a jump or more agile movements.

I hope now you get the idea. My projects are a bit about electronics, a bit about mechanics and a bit about programming. Right now I'm working on a new actuator, dynamic torque sensor for motor characterization, and a custom 3 axis CNC milling machine. I'll try to post some data on each of this projects each month.