SPHERES Guest Scientist Program

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CAD model of flight sphere


Welcome to the home page for the SPHERES Guest Scientist Program. The goal of the SPHERES Guest Scientist Program (GSP) is to enable remote investigators to independently design, code, and debug control, estimation, and autonomy algorithms for use on the SPHERES testbed.

SPHERES Simulation

A major update of the the SPHERES Matlab simulation is in progress, but its release date is TBD. For support on existing users of the old simulation versions, please e-mail spheres@mit.edu and we will do our best to answer your questions.


GSP Interface Document [pdf] 2.1 2010-01-05 Describes how to interface with the SPHERES program on all levels, from software APIs to the development process to delivery procedures.
SPHERES Specifications sheet [pdf] 2007-05-20 Detailed information on the physical properties of the SPHERES hardware, such as inertia matrices, sensor calibration data
SPHERES Expansion Port Interface Control Document [pdf] 1.0 2010-01-12 Provides the mechanical and electrical specifications to interface with the SPHERES Expansion Dock.

Published journal and conference papers may be found in the library.

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