EduRob: An Educational Robot for Teaching Kinematics of Wheeled Mobile Robots

Educational robots have become integral tools in educational institutions, offering unique opportunities to teach various aspects of robotics. This paper introduces EduRob, a versatile and highly reconfigurable educational robot specifically designed for teaching the kinematics of wheeled mobile robots. EduRob’s design is notable for its modular nature, which enables the interchangeability of wheels. This includes standard wheels, Omni wheels and Mecanum wheels in various configurations. Controlled by a microcontroller running micro-ROS and leveraging Eigen, a high-level C++ template library for linear algebra, matrix and vector operations, EduRob employs high-level programming concepts to enable students to focus on the intricate algorithms of robotics. This paper explores EduRob’s didactic concept, kinematics and technical implementation. EduRob is intended for use in both Bachelor’s and Master’s level university education, offering students a valuable educational experience through practical experimentation and theoretical understanding.