A mobile mini robot architecture for research, education and popularization of science

SOL PEDRE; PABLO DE CRISTÓFORIS; JAVIER CACCAVELLI; ANDRÉS STOLIAR

Journal of Applied Computer Science Methods

University of Management

Lugar: Lodz; Año: 2010 vol. 2 p. 41 - 59

1689-9636

Mobile mini-robots are commonly used for research, education and popularization of science. Often, commercially available mini-robots don’t quite fit the characteristics needed for a particular task, and are difficult to adapt since they have proprietary software and hardware. Moreover, they are often quite expensive. In this work we present a relatively low cost, reconfigurable robot that provides a wide variety of sensors and enough processing power to allow the on-board execution of intelligent algorithms. We present the complete hardware architecture, and a modularized software architecture that makes full use of hardwareinterruptions and software threads to have a perfectly timed control of the robot. All these characteristics make the ExaBot a very malleable, multi task mini-robot.