This repository contains all design files, software, and documentation for an all-terrain, six-legged rover capable of navigating rough terrain and collecting environmental samples. It is a personal robotics project focused on demonstrating skills in embedded systems, motor control, and computer vision.
- Navigate difficult terrain using a rocker-bogie suspension system
- Collect and store small samples (e.g., rocks or soil)
- Avoid untraversable obstacles using sensors
- Showcase design and control of a multi-motor robotic system
- Build a custom PCB
- Implement ROS2 and Gazebo Simulation
- /code Microcontroller firmware and Raspberry Pi software
- /mechanical design CAD files & mechanical designs
- /electrical schematics PCB schematics & electrical diagrams
- /vision Computer vision and object detection scripts
- /docs Design notes and planning documents
- /tests Testing scripts and logs
- /media Images or videos of the rover in progress
- /references Reference images that I gathered from online
- /archives Outdated documents/files that are no longer in use
- README.md Project overview and documentation
- Raspberry Pi 4 (with OpenCV for computer vision)
- Raspberry Pi Pico
- Python Programming Language and ROS
- Rocker-Bogie Suspension System
- Camera Module
- Sensors (IMU, GPS, Encoders, Magnetometer)
- Custom PCB
- Preliminary Research
- Conceptual Design
- Power Distribution Design
- Control/Communication Design
- Master Electrical Schematic Design
- PCB Design
- CAD Design
- Finalized BOM
- Full Assembly
- Basic Drive Logic
- Autonomy Logic
- Articulated Arm Design
- Articulation Logic
Add photos or videos here later
This is a personal project still under development