Spherical Robot
This ball shaped robot is gearless and protects the mechatronic components while in operation. These features of the developed spherical robot can sustain collisions. This highly nonlinear system can be operated remotely using an Android App. Its autonomous operations in indoor and outdoor planar environments have also been developed.
Key Contributors: Dr. Abhishek Gupta (IITB)and other Students & Staff
Selected Publication
- Dwaracherla, V., Thakar, S., Vachhani, L.,Gupta, A., Yadav, A., and Modi, S., "Motion planning for point-to-point navigation of spherical robot using position feedback", IEEE/ASME Transactions on Mechatronics, 24(5), 2416-2426, 2019. (Impact Factor: 5.673)
- Leena Vachhani, Shantanu Thakar, Vikranth Reddy D., Dhiraj Gandhi and Akshay Khatri, "Designand development of a gearless spherical robot", IPA No.4717/MUM/2015, filed on 16th December, 2015.
Projects
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Search and Reconnaissance using Spherical Robots
Sponsor: NCETIS, DeitY
Duration: April, 2017-April, 2022
Abstract: The ball shape of a spherical robot enables rolling in any direction on non-planar surfaces. The project aims to design a manually operated spherical robot that provides visual feedback and other application specific information to the operator for reconnaissance and search. Improvising the stabilization of video captured from the camera mounted on the moving platform of spherical robot is a sub-task to be addressed.