Robot How to Build a USB Controlled Treadmill

This post discusses how to develop a low cost treadmill with a closed-loop feedback controller for reinforcement learning experiments.

MATLAB and JAVA code is linked.

Code & Links

• Pre-build java library
• Source code of the developer version

The Treadmill

• Get a standard household treadmill Samples
• Note: It should work with a DC-Motor, otherwise a different controller is needed!

The Controller and the Distance Sensor

• Pololu Jrk 21v3 USB Motor Controller with Feedback or stronger (max. 28V, 3A)
• Comes with a Windows Gui to specify the control gains
• Sharp distance sensor GP2Y0A21, 10 cm – 80 cm or similar
• USB cable
• Cable for the distance sensor
• Power cables for the treadmill
• Controller User Guide by Polo

The Matlab Interface

• Get the java library  build or the developer version, both from Sept 2015 created by E. Rueckert.
• Run the install script installFTSensor.m (which add the jar to your classpath.txt)
• Check the testFTSensor.m script which builds on the wrapper class MatlabFTCL5040Sensor (you need to add this file to your path)