ROBOTONT – Open-source and ROS-supported omnidirectional mobile robot for education and research

Raudmäe, Renno; Schumann, S; Vunder, Veiko; Oidekivi, Maarika; Nigol, Madis Kaspar; Valner, Robert; Masnavi, Houman; Singh, Arun Kumar; Aabloo, Alvo; Kruusamäe, Karl

doi:10.1016/j.ohx.2023.e00436

Cited by 9 publications

(8 citation statements)

References 16 publications

(16 reference statements)

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“…ROS primarily supports programming languages such as C++ and Python and also offers compatibility with MATLAB and Lua. Although the literature mentions options for educational robots that incorporate ROS, such as EUROPA, Robotont, and PlatypOU [20][21][22], these robots are often proprietary, and reproducing them can be a laborious task, not to mention the potential obstacle posed by their cost.…”

Section: Discussionmentioning

confidence: 99%

“…Robotont is an open-source omnidirectional mobile robot platform with physical hardware and a digital twin. This robot has been successfully utilized for university instruction, professional development, and online courses on ROS and robotics [22]. PlatypOU is a mobile robot designed for laboratory practices and demonstrations, capable of being remotely controlled through an electromyography device [23].…”

Section: Related Workmentioning

confidence: 99%

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A ROS-Based Open Tool for Controlling an Educational Mobile Robot

Varela-Aldás,

Palacios-Navarro

2024

Int. J. Onl. Eng.

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Commercial educational robots provide an accessible entry point into the world of robotics. However, their programming is often limited to specific platforms, which can make it challenging to acquire the skills necessary for industry and research. In this study, we introduce an open-access tool developed using C++ and Arduino IDE that enables us to manage a commercial mobile robot through the Robot Operating System (ROS) middleware. This provides programmers with the ability to work in a powerful programming environment, such as Python. The robot used is the CrowBot BOLT, a kit based on ESP32 that enables wireless communication and includes various peripherals for application development. The mobile robot topics include robot velocities, RGB LEDs, a buzzer, a programmable button, and proximity, light, and line sensors. The proposal is assessed using two controllers: one for proximity and the other for tracking angular light. Both controllers are developed using Visual Studio Code. The experimental results demonstrated the proper functioning of the tool. Additionally, the response time was evaluated, and it was found that optimal performance is achieved at a frequency of 10 Hz. In summary, this proposal provides an accessible option for students and developers seeking to gain skills in robotics using ROS. The project’s repository is located at https://github.com/joseVarelaAldas/ROS-Crowbot.

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Section: Discussionmentioning

confidence: 99%

Section: Related Workmentioning

confidence: 99%

A ROS-Based Open Tool for Controlling an Educational Mobile Robot

Varela-Aldás,

Palacios-Navarro

2024

Int. J. Onl. Eng.

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“…Em [Raudmäe et al 2023] uma plataforma robótica de código aberto para fins educacionais e de pesquisa, que inclui suporte ao ROS é proposta. O robô desenvolvido pelos autores possui recursos de movimentac ¸ão omnidirecional com 3 motores, um computador embarcado, uma placa microcontrolada STM32 NUCLEO-L476RG, uma câmera RGB D e sensores de rotac ¸ão (encoders) em cada roda.…”

Section: Trabalhos Relacionadosunclassified

Integração do ROS em uma plataforma robótica móvel de baixo custo para o ensino superior

Souza,

Paradeda

2023

Anais Do XXXIV Simpósio Brasileiro De Informática Na Educação (SBIE 2023)

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A robótica móvel tem sido amplamente utilizada no ensino superior. Em geral, os robôs utilizados são caros ou os ambientes simulados não refletem completamente a realidade. Neste artigo, propomos o desenvolvimento de um framework de hardware de baixo custo para o ensino de robótica móvel no ensino superior. Utilizamos a placa NodeMCU - ESP8266 e integramos com o ROS (Robot Operating System). Isso permite um desenvolvimento e aprendizado mais eficientes, com abstração do hardware e uso de ferramentas existentes para facilitar a integração com sensores, atuadores e comunicação de dados. Realizamos testes utilizando dados sensoriais do robô construído e executamos diferentes algoritmos comumente explorados no ensino de robótica móvel.

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“…This paper introduces a 3D-printed open-source omnidirectional mobile robot Robotont 3 designed as a dedicated platform for both education and research. Building on our prior work ( Raudmäe et al, 2023 ), we have enhanced the robot’s design by switching to a fully 3D-printed chassis ( Figure 1A ) and consolidating the electronics into a single system board ( Figure 1B ) that can be readily ordered from an online PCB manufacturing service. These improvements make it easier to manufacture and assemble the robot by someone who does not have access to CNC-milling and tools for electronics assembly.…”

Section: Introductionmentioning

confidence: 99%

“…Robotont 2 was intended to bridge the gap between accessible but computationally more limited educational robots and non-accessible but computationally capable industrial robots, offering a reasonably priced platform for teaching industry-relevant ROS skills in higher education without the need for industry-priced platforms ( Raudmäe et al, 2023 ). Robotont 3 continues with this motivation, with the addition of bringing the manufacturing of the robot closer to target audiences.…”

Section: Introductionmentioning

confidence: 99%

Robotont 3–an accessible 3D-printable ROS-supported open-source mobile robot for education and research

Mõtshärg,

Vunder,

Raudmäe

et al. 2024

Front. Robot. AI

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Educational robots offer a platform for training aspiring engineers and building trust in technology that is envisioned to shape how we work and live. In education, accessibility and modularity are significant in the choice of such a technological platform. In order to foster continuous development of the robots as well as to improve student engagement in the design and fabrication process, safe production methods with low accessibility barriers should be chosen. In this paper, we present Robotont 3, an open-source mobile robot that leverages Fused Deposition Modeling (FDM) 3D-printing for manufacturing the chassis and a single dedicated system board that can be ordered from online printed circuit board (PCB) assembly services. To promote accessibility, the project follows open hardware practices, such as design transparency, permissive licensing, accessibility in manufacturing methods, and comprehensive documentation. Semantic Versioning was incorporated to improve maintainability in development. Compared to the earlier versions, Robotont 3 maintains all the technical capabilities, while featuring an improved hardware setup to enhance the ease of fabrication and assembly, and modularity. The improvements increase the accessibility, scalability and flexibility of the platform in an educational setting.

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ROBOTONT – Open-source and ROS-supported omnidirectional mobile robot for education and research

Cited by 9 publications

References 16 publications

A ROS-Based Open Tool for Controlling an Educational Mobile Robot

A ROS-Based Open Tool for Controlling an Educational Mobile Robot

Integração do ROS em uma plataforma robótica móvel de baixo custo para o ensino superior

Robotont 3–an accessible 3D-printable ROS-supported open-source mobile robot for education and research

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