Strikebot is a microcontroller based spherical ground robot
The robot is controlled by two coupled DC motors for linear motion, and has a servo-driven internal pendulum for directional motion by shifting the center of gravity.
Sample mechanism: Source
A closed loop active damping mechanism is implemented to reduce wobbling during motion. Orientation feedback for control is obtained from the onboard IMU (MPU 6050)
The couplers for attaching to the spherical shell are custom designed and 3D-printed in house.
This project was built as a display project for Quark 2022, the annual technical fest of BITS Goa. It is controllable via bluetooth, and can move in multiple open loop trajectories, with active damping for reduced oscillations.
- Dabble for bluetooth control
- Adafruit MPU 6050 for IMU interfacing
- Cytron Motor Driver Library for interfacing with motor driver
Inspired by a similar project by Dr. Aseem Borkar and Mr. Kumar Khot.
Date of completion: March - April 2022