SMORES II

Swerve drive with 8 SMORES modules

Swerve drive demo

Demo created using SPARK simulator (courtesy of Cornell Autonomous Systems Lab and University of Pennsylvania Modular Robotics Lab)

SMORES Stair Climbing

Stair Climbing Demo

Demo created using SPARK simulator (courtesy of Cornell Autonomous Systems Lab and University of Pennsylvania Modular Robotics Lab)

Two SMORES modules

Two Module Demo

Project Overview

Smores II is a small square modular robot capable of articulating four degrees of freedom and linking together with other Smores modules. The modules are controlled by a central computer which handles motion planning for all the modules. Connected modules can attach and communicate to each other using the electro-permanent (EP) magnets on each face.

More information here

Video of independent study here

My Role

Software:

Software Manager/ Lead Developer

Created embedded software architecture for the project

Added 802.11 wifi capability to the modules

Designed lightweight messaging interface between the modules and central computer

Helped design python library to encapsulate Smores' functionality

Implemented coil communications for inter-module communication

Research

Developed cluster discovery for Smores. Using coil communications to discover the shape and orientation of a cluster of modules.

Electronics:

Redesigned six of the PCB's for the Smores modules

Added coil communications functionality to the PCB's inside the faces

Key Skills

C, C++, Python, Eagle PCB, Git