My first project on my quest to build a walking robot using neural nets. It’s my physical build of the classic pendulum control problem. The goal is to swing a stick and keep it balanced so it stays upright. Turns out, reinforcement learning is pretty hard, so I can’t show a working version yet. The build I have so far is a Raspberry Pi connected to 4 servos through control board I programmed. There’s a string tied to the servos on which a stick is held and on the stick there’s a gyroscope. The Raspberry Pi connects through websockets to my computer and I sample the measurements and output the servo positions. Hopefully an actor-critic algorithm will control it soon, but for now, here’s me fiddling with it.