AMiRo: A modular & customizable open-source mini robot platform

Abstract

AMiRo is a novel modular robot platform that can be easily extended and customized in hardware and software. Built up of electronic modules that fully exploit recent technology and open-source software for sensor processing, actuator control, and cognitive processing, the robot facilitates rich autonomous behaviors. Further contribution lies in the completely open-source software habitat: from low-level microcontroller implementations, over high-level applications running on an embedded processor, up to hardware accelerated algorithms using programmable logic. This paper describes in detail the motivation, system architecture, and software design of the AMiRo, which surpasses state-of-the-art competitors.