Deformable Project - Aerial and Ground
Project Overview
Motivation
This project focused on the development of deformable robots, both aerial and ground-based, to adapt to dynamic environments. The primary objective was to design to reduce the weight for aerial agents and improve integration of the ground robots.
What Was Done
MicroROS Integration
Integrated microROS on Xiao ESP32C3 chipsets for ground robots.
Control Systems
Designed and tested control systems for servo motors.
Testing
Conducted extensive tests on ground robots to evaluate deformation control.
Design Iteration
Iterated designs for motor mounts and frames to improve stability and performance.
What was Learned
Hardware Integration
Integrating microROS with various hardware components presents unique challenges.
Iterative Design
Iterative design is essential for achieving optimal performance in deformable robots.
What Was Achieved
- Reduced the Size of the System by 25% and weight by
- Successfully demostrated takeoff aerial robots
- Developed robust servo motor control using ROS2
- Successfully demostrated control of ground robots