# Title Team Members TA Documents Sponsor
30 Amphibious Spherical Explorer
Area Award: Controls
Junhao Su
Kaiwen Chen
Zhong Tan
Luke Wendt design_document0.pdf
The amphibious spherical explorer (ASE) our team is building is mainly for outdoor adventure. The ASE will have no difficulty traveling in water, swamp, dessert, and land due to its spherical shape and pendulum driven principle. Comparing to most robots, ASE will be more versatile since it could travel under most circumstances. As for the other spherical robots, ASE is more adaptable because of its flexible yet enduring shell and at the same time we are aiming to design a better control system to solve the balance issue.

The ASE will be implemented using dual-actuator design consisting of one DC motor and one Servo motor, magnetic encoder, gyroscope, micro-controller, WIFI chip and etc. Specifically, we have decided to build this to be a general-purpose robotic platform as we are planning to leave an I2C bus to interface corresponding interchangeable modules designed for diverse tasks and various usages. The control signal will be sent from PC to the explorer, and the data collected by the task module are transmitted back to the users for debugging. The entire communication process will be accomplished through WIFI.

Our team members have had fair amount of experience in Embedded programming & Control system design, Mechanical CAD, and PCB design which will be efficient through the project building process.

Team members:
Kaiwen Chen (kchen70)
Zhong Tan (zmtan2)
Junhao Su (jsu10)

Amphibious Spherical Explorer

Kaiwen Chen, Junhao Su, Zhong Tan

Amphibious Spherical Explorer

Featured Project

The amphibious spherical explorer (ASE) is a spherical robot for home monitoring, outdoor adventure or hazardous environment surveillance. Due to the unique shape of the robot, ASE can travel across land, dessert, swamp or even water by itself, or be casted by other devices (e.g. slingshot) to the mission area. ASE has a motion-sensing system based on Inertial Measurement Unit (IMU) and rotary magnetic encoder, which allows the internal controller to adjust its speed and attitude properly. The well-designed control system makes the robot free of visible wobbliness when it is taking actions like acceleration, deceleration, turning and rest. ASE is also a platform for research on control system design. The parameters of the internal controller can be assigned by an external control panel in computer based on MATLAB Graphic User Interface (GUI) which communicates with the robot via a WiFi network generated by the robot. The response of the robot can be recorded and sent back to the control panel for further analysis. This project is completely open-sourced. People who are interested in the robot can continue this project for more interesting features, such as adding camera for real-time surveillance, or controller design based on machine learning.

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