For 3D HW access, click -> Fusion360 Link
The Pill Bug Robot Project aims to develop a next-generation mobile robot inspired by the natural movements of pill bugs. This robot can detect its surroundings using various sensors and adapt its form by contracting into a ball or expanding to move. The project combines multiple technologies to create a versatile and engaging robot with potential applications in reconnaissance and other fields.
- Aligned Interests: Team members share a common interest in robots that can alter their form and interact with users based on environmental changes. Inspired by childhood memories of playing with pill bugs, the idea to develop a pill bug robot emerged.
- Usability and Potential:
- Research indicates that pill bug robots can function as small-scale reconnaissance robots:
- Capable of being tossed and navigating rough terrain.
- Unique robotic system that mimic the contraction and expansion behavior seen in pill bugs.
- Due to its unique blend of technologies and intriguing nature, the project is expected to generate significant interest if released as open-source.
- Research indicates that pill bug robots can function as small-scale reconnaissance robots:
- Adaptive Mobility: The robot contracts into a ball for rapid movement on slopes and expands to navigate flat terrain.
- Durability: Designed to withstand impacts and collisions.
- Terrain Adaptability: Overcomes uneven, tough surfaces.
- Segmented Shell: Composed of 10 TPU shell that enable smooth contraction and expansion movements.
- Dynamic Form: Contracts into a spherical shape(160mm diameter) and expands into a form suitable for driving and moving.
- Responsive Movement: Reacts to impacts and approaching objects with appropriate contraction actions.
- User Control:
- Controlled via a mobile device connected to the robot’s Wi-Fi signal.
- Real-time monitoring of status (tilt, acceleration, temperature).
- 30-minute battery life.
- You can access and download the structure STL file via Fusion. If you want to contribute the HW, please contact me for the access.
- The robot's shell consists of 10 TPU segments that can contract and expand without interference.
- 2 footWheels for mobility.
- Built on an ESP32-based Platform IO.
- Incorporates C++ and web development for app control.
- Utilizes Wi-Fi AP mode for a mobile UI that allows control and monitoring.
- Introduces a new tandem-based shell mechanism.
- Enhancing the automatic contraction and expansion functions.
- Upgrading vision recognition and terrain awareness.
- Adding a posture correction mechanism during contraction and expansion.
- Modifying to 4 footWheels to improve driving performance.
- Platform IO Platform > Erase Flash > Build Filesystem Image > Upload Filesystem
- Platform IO General > Build > Upload
- Wifi connect via "SSID: OMG_pillbug", "Password: aaaa1111"
- Contorl Panel "http://192.168.4.1"
- D-controller: Robot Movement, O-controller: Tendom Action
BOM for the hardware will be added soon.
Click to view the required electrical components
| Component | Description | Link |
|---|---|---|
| Wormgear Motor | Singleshaft, B 7-27RPM | AliExpress Link |
| MPU6050 | GY-521 [SZH-EK007] | DeviceMart Link |
| High Discharge Battery | GiantPower 50C, 11.1V | RCBank Link |
| Photo Sensor | BS5-Y2M | DeviceMart Link |
| ESP32 | ESP32-WROOM | Amazon Link |
| Motor Driver | L9110S | AliExpress Link |
| Charging and Step-Down | SZH-PWSD-045 | DeviceMart Link |
The Pill Bug Robot Project combines various technologies to bring a new approach to mobile robotics by mimicking the unique movements of pill bugs. By open-sourcing this project, we aim to foster innovation and inspire the robotics community with this engaging and practical design.
OpensourceMakerGroup SungkyunkwanUniv
contact via leejimmy1@g.skku.edu