SPHERE Spherical Robot Project

This is a repository that stores source code for spherical robot "SPHERE".
The robot was developed and built by the students of AGH University of Science and Technology.
Kraków, 2018/2019.

How to begin:

• To use DualShock 4 controller:

  • Open DS4 Windows and enable laptop's bluetooth
  • Switch on the DS4 controller
  • Connect the controller to the app
  • Switch on the robot
  • Execute SPHERE_DS4_Control.py  

• To use PC GUI application:

  • Switch on the robot
  • Execute SPHERE_PC_Control.py  

How to control the robot with PC app:

• Throttle section allows the user to set the desired value of the robot’s velocity.
• Steering section allows the user to lean the pendulum and turn the robot sideways.
• Controllers section lets the user choose what controller should be used.
• STOP button resets throttle and steering values to 0. It is a safety button.
   

How to control the robot with DS4:

• Analog joystick 1 allows to set a pendulum inclination and turn the robot.
• L2 button marked as 2 controls the robot’s backward speed.
• R2 button marked as 3 controls robot’s forward speed.
• Buttons marked as 4 allow the user to change controller type. Controller selection:
       X - no controller
       square - PID controller
       circle - Fuzzy controller
   

Functional block diagram:

 

Contact

If you have further interest in SPHERE spherical robot, feel free to drop me an email at: [email protected]

 

Acknowledgements:

Thesis Supervisor and Originator:

Adam Krzysztof Pilat Ph.D., D.Sc., Prof. AGH
Active Levitation Technology - suspension and bearing
Head of Robotic, Photovoltaic, and Magnetic Levitation Laboratory
Faculty of Electrical Engineering, Automatics,
Computer Science and Biomedical Engineering
AGH - University of Science and Technology

 

First version of the spherical robot created by:

Kacper Łanda, M.Sc.
Faculty of Electrical Engineering, Automatics,
Computer Science and Biomedical Engineering
AGH - University of Science and Technology