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

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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 languageEnglish
Title of host publicationProceedings of the 12th International Conference on Robotics in Education
Publication date28 Apr 2021
ISBN (Print)978-3-030-82543-0
ISBN (Electronic)978-3-030-82544-7
Publication statusPublished - 28 Apr 2021
Event13th International Conference on Robotics in Education -
Duration: 27 Apr 202129 May 2021


Conference13th International Conference on Robotics in Education
SeriesAdvances in Intelligent Systems and Computing


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ID: 85887578