Presentation of the Hardware




Four independent axes of motions (motors/wheels).

Defines  the installment of motors to every wheel of the robot, 4 in total. This enables 4WD differential drive kinematic model support.

2 or 4 motor controllers

Implementation of the 4WD differential drive kinematic model. In order to achieve cost reduction the motors will be controlled in couples, at each side of the platform.

Robotic base platform.

Integration of embedded boards, sensors, effectors, and power management circuits

Integration of position/velocity encoders to the motors.

The platform will support position/velocity encoders for every motor in order to  be able to correct the errors in the robot motion.






Distance Sensor (ultrasonic): HC-SR04 Ultrasonic Range Finder.


Two ultrasonic distance sensors with at least 2 meter measurement range.

Distance Sensor (InfraRed): Infrared Proximity Sensor Short Range – Sharp GP2Y0A41SK0F.


Two IR sensors for short and two for long distance measurements.

Distance sensor laser time-of-flight: VL53L1X Time of Flight (ToF) Sensor.


One distance sensor time-of-flight, with high frequency measurements capability.

Environment temperature sensor: BME680 Air Quality, Temperature, Pressure, Humidity Sensor Breakout Board.


One temperature sensor for indoors  environment temperature measurements.

Pressure sensor: BME680 Air Quality, Temperature, Pressure, Humidity Sensor Breakout Board.


One pressure measurement sensor.

Humidity Sensor: BME680 Air Quality, Temperature, Pressure, Humidity Sensor Breakout Board.


One humidity sensor for indoors environment.

3D Compass: SparkFun 9-DoF Sensor Stick.


One 3D compass to measure the angle of the robot’s in the 3D space so as  to enable changes in the robot’s orientation.

3-axis accelerometer: SparkFun 9-DoF Sensor Stick.


One accelerometer sensor to measure the acceleration of the TekTrain device.

3-axis gyroscope: SparkFun 9-DoF Sensor Stick.


One gyroscope to measure the angular velocity and for orientation assessment.

Microphone system: Adafruit Mini USB Microphone


One system of microphones to capture sounds from the robot’s environment.

RGB Camera: Raspberry Pi 8MP Camera board v2


One RGB camera with appropriate resolution capabilities for the required machine learning algorithms of the project.

Tact sensor: Tact Switch 12x12mm 7.3mm + Cap for Tact Button


Ten tact sensors that will be used either as state changing buttons or for collision detection.

Line following sensor (line following): Cytron Line Sensor.


One line following sensor that will be integrated beneath the platform, which enables the robot to follow lines in the floor.

Position/velocity encoders on the wheels


Four position/velocity encoders on the wheels in order to enable position errors detection and provide odometry data.






Platform motors: DFRobot 6V,180rpm Micro DC Geared Motor with Back Shaft.


Four motors, each integrated in every wheel.

RGB Leds: NeoPixel Digital RGB LED.


Programmable LEDs with adjustable color and luminous intensity.

Sound speaker: Adafruit Mini External USB Stereo Speaker.


One sound speaker for robot sounds and messages.

Screen: Pi Display 4″ HDMI 800x480 IPS Resistive


One screen for videos and robot emotion illustration.

Pan-Tilt mechanism: Pan/Tilt Bracket Kit.


One Pan-Tilt mechanism to enable camera motion.