Putting low-cost commercial robotics components to the test - Development of an educational mechatronics/robotics platform using LEGO components

Papadimitriou, V; Papadopoulos, E

dc.contributor.author	Papadimitriou, V	en
dc.contributor.author	Papadopoulos, E	en
dc.date.accessioned	2014-03-01T01:26:56Z
dc.date.available	2014-03-01T01:26:56Z
dc.date.issued	2007	en
dc.identifier.issn	10709932	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/18300
dc.subject	LEGO elements	en
dc.subject	Low-cost experimental training	en
dc.subject	Mechatronics	en
dc.subject	Robotics and control education	en
dc.subject.other	Actuators	en
dc.subject.other	Algorithms	en
dc.subject.other	Collision avoidance	en
dc.subject.other	Mechatronics	en
dc.subject.other	Remote control	en
dc.subject.other	Robots	en
dc.subject.other	Sensors	en
dc.subject.other	Vehicle transmissions	en
dc.subject.other	Vehicle wheels	en
dc.subject.other	Autonomous robotic vehicles	en
dc.subject.other	Commercial robotics	en
dc.subject.other	Educational mechatronics	en
dc.subject.other	Robotics platform	en
dc.subject.other	Robotics	en
dc.title	Putting low-cost commercial robotics components to the test - Development of an educational mechatronics/robotics platform using LEGO components	en
heal.type	journalArticle	en
heal.identifier.primary	10.1109/MRA.2007.901322	en
heal.identifier.secondary	http://dx.doi.org/10.1109/MRA.2007.901322	en
heal.publicationDate	2007	en
heal.abstract	The possibility of using low-cost commercial material as the basis for an educational platform for mechatronics, robotics, or control applications has been studied. The LEGO elements are the chosen material for the two major projects that were designed and completed as illustrative examples of its educational strength. The first involves Explorer, a differentially driven nonholonomic robotic vehicle following predefined paths with a desired velocity profile, while the second concerns two robotic vehicles cooperating in a specific task. Explorer platform employs two sensor-equipped dc motors driving the wheels as well as caster. The transmission system uses plastic chains and sprockets and is designed to minimize backlash. A transmission system is connecting the wheel to the rotation sensors to increase the sensor speed with respect to the wheel. Meanwhile, the second project involves two autonomous robotic vehicles, a remote PC and a simple painting acting as a workspace. The aim is to construct a robotic vehicle to scan and read data from a Kandinsky painting and then interact with it, drawing lines in accordance with an intelligent algorithm. Explorer, the first vehicle, is responsible for exploring the workspace and collecting all necessary data to fully identify the geometric characteristics and topology of the targets while Painter acts on the painting after having received and processed information of workspace's characteristics. After having completed the necessary requirements in reverse engineering as well as spot color sensor design, target recognition, and a serial cooperation protocol for collision avoidance, the overall impression of the LEGO mechatronics is positive. One can study mechanical design, actuators and transmissions, sensor analysis and development, sensor interfacing, software development, high-level planning, servo control and artificial intelligence rolled into one project.	en
heal.journalName	IEEE Robotics and Automation Magazine	en
dc.identifier.doi	10.1109/MRA.2007.901322	en
dc.identifier.volume	14	en
dc.identifier.issue	3	en
dc.identifier.spage	99	en
dc.identifier.epage	110	en