DIY Gloved Hand motion control RC Helicopter

DIY Gloved Hand motion control RC Helicopter

Did you imagine surfing internet just like what Tom Cruise did in his movie “Minority Report” ? Though it maybe a long way get real, controlling RC helicopter by motion looks like something in very near future. Mike W demonstrates us his project while working at the USC Institute for Creative Technologies this summer over the course of about 2-3 weeks. And what’ s exciting us is he proved that even cheap model helicopters can be controlled in motion capture, this must give a big push towards innovative control mechanisms.

DIY Autonomous Helicopter VIDEO

Autonomous Helicopter from M W on Vimeo.

DIY Autonomous Helicopter Technical(For geeks only)

The model is a Blade CX2 RTF Electric Coaxial Micro Helicopter controlled via a Spektrum DX5e receiving servo signals through an Endurance RC PCTx from a PC computer. The software running on the computer consists of a VRPN (Virtual Reality Peripheral Network) middle wear program that takes data from a Phase Space Motion Capture Stage OWL Server and outputs clean model position data (x,y,z and heading) to a VR engine written to Dr. Evan Suma. The model is controlled by 4 PID loops, one each for the X,Y,Z, and heading variables and includes adjustable clamps, offsets, ramps, throws, trims, and other functionality to make it easier to tune and adjust the control loops. All of these values are adjusted easily by editing a text document that is read-in to the software every time it is executed, to prevent a recompilation whenever any values need to be adjusted (Often when manually tuning a PID loop!). Also, included in the control code is a trapezoidal function that smooths deltas to the PID loops to prevent shocks to the control system
The PID outputs are then sent over a USB Human Interface Device to the PCTx, converted to PWM and PPM signals, sent to the TX, through the RX and eventually arrive at the servos and motor controller and make the helicopter move as desired.
The oscillations you will see in the video footage indicate that the PID loops are NOT critically damped . But it is very nice for a two weeks of work with such performance for an inexpensive single rotor helicopter which is around USD180. Very soon, you can bring your helicopter down the street in the way like you walk a dog !