Controls

Spherical robot is palm-sized robot with in built Fish-eye camera based perception. We investigate Nonlinear Feedback linearization control and develop a robust and ergonomic spherical robot to control its wobble while manevuering due to its highly nonlinear nature.

The project investigated the use of spherical robots as wheels. A omnidirectional mobile base was developed each spheros at 120 degrees apart connected via a link. A kinematic model for commanding the velocities of these actuation is developed. Various experiments were performed with feedback from Vicon Motion Capture systems.

Generally differential drive mobile robots are non holonomic. The motion constraints pose hinderance in manuevering in indoor cluttered environments.The work focuses on holonomic Ball-Balancing Robot (BBR). BBR system is inherently unstable, and can be dynamically stable. BBR does not have any constraint and need to turn in cluttered places.