HoRoSim, a Holistic Robot Simulator: Arduino Code, Electronic Circuits and Physics

Andres Faina

doi:https://doi.org/10.1007/978-3-030-82544-7_24

HoRoSim, a Holistic Robot Simulator: Arduino Code, Electronic Circuits and Physics

Research output: Conference Article in Proceeding or Book/Report chapter › Article in proceedings › Research › peer-review

Abstract

Online teaching, which has been the only way to keep teaching during the pandemic, imposes severe restrictions on hand-on robotic courses. Robot simulators can help to reduce the impact, but most of them use high-level commands to control the robots. In this paper, a new holistic simulator, HoRoSim, is presented. The new simulator uses abstractions of electronic circuits, Arduino code and a robot simulator with a physics engine to simulate microcontroller-based robots. To the best of our knowledge, it is the only tool that simulates Arduino code and multi-body physics. In order to illustrate its possibilities, two use cases are analysed: a line-following robot, which was used by our students to finish their mandatory activities, and a PID controller testbed. Preliminary tests with master's students indicate that HoRoSim can help to increase student engagement during online courses.

Original language	English
Title of host publication	Proceedings of the 12th International Conference on Robotics in Education
Publisher	Springer
Publication date	28 Apr 2021
ISBN (Print)	978-3-030-82543-0
ISBN (Electronic)	978-3-030-82544-7
DOIs	https://doi.org/10.1007/978-3-030-82544-7_24
Publication status	Published - 28 Apr 2021
Event	13th International Conference on Robotics in Education - Duration: 27 Apr 2021 → 29 May 2021

Conference

Conference	13th International Conference on Robotics in Education
Period	27/04/2021 → 29/05/2021

Series	Advances in Intelligent Systems and Computing
Volume	1359
ISSN	2194-5357

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2021RIE_HoRoSim_camera_readyAccepted author manuscript, 3.46 MB

Cite this

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title = "HoRoSim, a Holistic Robot Simulator: Arduino Code, Electronic Circuits and Physics",

abstract = "Online teaching, which has been the only way to keep teaching during the pandemic, imposes severe restrictions on hand-on robotic courses. Robot simulators can help to reduce the impact, but most of them use high-level commands to control the robots. In this paper, a new holistic simulator, HoRoSim, is presented. The new simulator uses abstractions of electronic circuits, Arduino code and a robot simulator with a physics engine to simulate microcontroller-based robots. To the best of our knowledge, it is the only tool that simulates Arduino code and multi-body physics. In order to illustrate its possibilities, two use cases are analysed: a line-following robot, which was used by our students to finish their mandatory activities, and a PID controller testbed. Preliminary tests with master's students indicate that HoRoSim can help to increase student engagement during online courses. ",

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note = "13th International Conference on Robotics in Education, RIE2021 ; Conference date: 27-04-2021 Through 29-05-2021",

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HoRoSim, a Holistic Robot Simulator: Arduino Code, Electronic Circuits and Physics. / Faina, Andres.
Proceedings of the 12th International Conference on Robotics in Education. Springer, 2021. (Advances in Intelligent Systems and Computing, Vol. 1359).

Research output: Conference Article in Proceeding or Book/Report chapter › Article in proceedings › Research › peer-review

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AB - Online teaching, which has been the only way to keep teaching during the pandemic, imposes severe restrictions on hand-on robotic courses. Robot simulators can help to reduce the impact, but most of them use high-level commands to control the robots. In this paper, a new holistic simulator, HoRoSim, is presented. The new simulator uses abstractions of electronic circuits, Arduino code and a robot simulator with a physics engine to simulate microcontroller-based robots. To the best of our knowledge, it is the only tool that simulates Arduino code and multi-body physics. In order to illustrate its possibilities, two use cases are analysed: a line-following robot, which was used by our students to finish their mandatory activities, and a PID controller testbed. Preliminary tests with master's students indicate that HoRoSim can help to increase student engagement during online courses.

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HoRoSim, a Holistic Robot Simulator: Arduino Code, Electronic Circuits and Physics

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