Our group is currently working on Virgo, an autonomous minature spherical rolling.  Our current version has a diameter of 60mm and weights 47g.


Our iterations of Virgo

Drift-less Architecture

  • Differential Direct Drive Mechanism
Virgo Mechanical Architecture

Virgo Mechanical Architecture

Self-contained Sensors

  • Magnetic compass
  • Gyroscope
  • Accelerometers

COTS Controller & Communication

  • Low power Arduino mini
  • Bluetooth

Software Control

  • Polar coordinates
  • Set-point Azimuth control

Virgo Control Architecture