Embedded Control Lab


Applications of spherical robot:

The structure of the spherical robot has many advantages over conventional mobile vehicles or humanoids. The ball shape of a spherical robot enables rolling in any direction on non-planar surfaces. A gearless spherical robot has been designed. The design is scalable in size. Development of control-laws for real-world applications using spherical robot is being investigated. Challenge is to control nonlinear dynamics of the system with the constraints imposed by embedded processing and sensing.

Vision based embedded controller design for 3-D overhead crane:

Vision based motion planning: The problems related to the navigation of an object carried by the trolley in the presence of obstacles are investigated under the measurement uncertainties. The information extracted from image processing is used as the measurement.

Vision based positioning of trolley: A precise positioning of trolley is required for picking the object placed at an unknown location. The aim is to design an embedded controller for precise positioning of the trolley in the presence of sensor and actuator uncertainties. This problem also deals with various heights of the object piles.
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