{"id":8199,"date":"2025-06-16T15:12:26","date_gmt":"2025-06-16T15:12:26","guid":{"rendered":"https:\/\/dyor.webs.upv.es\/?p=8199"},"modified":"2025-06-21T07:29:33","modified_gmt":"2025-06-21T07:29:33","slug":"dyor-omnibeast","status":"publish","type":"post","link":"https:\/\/dyor.webs.upv.es\/en\/dyor-omnibeast\/","title":{"rendered":"DYOR &#8211; OmniBeast"},"content":{"rendered":"<p><\/p>\n<h2><span class=\"TextRun SCXW196179565 BCX0\" lang=\"EN-US\" xml:lang=\"EN-US\" data-contrast=\"none\"><span class=\"NormalTextRun SCXW196179565 BCX0\" data-ccp-parastyle=\"heading 2\">Introduction<\/span><\/span><span class=\"EOP SCXW196179565 BCX0\" data-ccp-props=\"{&quot;134245418&quot;:true,&quot;134245529&quot;:true,&quot;335559738&quot;:160,&quot;335559739&quot;:80}\">\u00a0<\/span><\/h2>\n<p><span class=\"TextRun SCXW224857142 BCX0\" lang=\"EN-US\" xml:lang=\"EN-US\" data-contrast=\"none\"><span class=\"NormalTextRun SCXW224857142 BCX0\" data-ccp-parastyle=\"heading 2\">In our robotics project, we developed a mobile robot capable of omnidirectional movement and proximity-based audio feedback. The robot is based on a metal chassis and uses four Omniwheels (Swedish Wheels) powered by four TT DC motors. It is wirelessly controlled through a mobile app created with MIT App Inventor, communicating via Bluetooth. Additionally, a second Arduino monitors distances using an ultrasonic sensor and provides acoustic feedback when obstacles are <\/span><span class=\"NormalTextRun ContextualSpellingAndGrammarErrorV2Themed SCXW224857142 BCX0\" data-ccp-parastyle=\"heading 2\">near<\/span><span class=\"NormalTextRun SCXW224857142 BCX0\" data-ccp-parastyle=\"heading 2\">. This project <\/span><span class=\"NormalTextRun SCXW224857142 BCX0\" data-ccp-parastyle=\"heading 2\">demonstrates<\/span><span class=\"NormalTextRun SCXW224857142 BCX0\" data-ccp-parastyle=\"heading 2\"> the integration of mechanical design, embedded systems, and user interaction through mobile interfaces.<\/span><\/span><span class=\"EOP SCXW224857142 BCX0\" data-ccp-props=\"{&quot;134233117&quot;:false,&quot;134233118&quot;:false,&quot;134245418&quot;:true,&quot;134245529&quot;:true,&quot;201341983&quot;:0,&quot;335551550&quot;:1,&quot;335551620&quot;:1,&quot;335559685&quot;:0,&quot;335559737&quot;:0,&quot;335559738&quot;:160,&quot;335559739&quot;:80,&quot;335559740&quot;:279}\">\u00a0<\/span><\/p>\n<p><!--more--><\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"alignnone wp-image-8204\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2025\/06\/omni_beast_main_MAIN-300x169.jpg\" alt=\"\" width=\"637\" height=\"359\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2025\/06\/omni_beast_main_MAIN-300x169.jpg 300w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2025\/06\/omni_beast_main_MAIN-1024x577.jpg 1024w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2025\/06\/omni_beast_main_MAIN-768x432.jpg 768w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2025\/06\/omni_beast_main_MAIN-1536x865.jpg 1536w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2025\/06\/omni_beast_main_MAIN-2048x1153.jpg 2048w\" sizes=\"auto, (max-width: 637px) 100vw, 637px\" \/><\/p>\n<h2><span class=\"TextRun SCXW45164597 BCX0\" lang=\"EN-US\" xml:lang=\"EN-US\" data-contrast=\"none\"><span class=\"NormalTextRun SCXW45164597 BCX0\" data-ccp-parastyle=\"heading 2\">Summary<\/span><\/span><span class=\"EOP SCXW45164597 BCX0\" data-ccp-props=\"{&quot;134245418&quot;:true,&quot;134245529&quot;:true,&quot;335559738&quot;:160,&quot;335559739&quot;:80}\">\u00a0<\/span><\/h2>\n<p><span class=\"TextRun SCXW192834399 BCX0\" lang=\"EN-US\" xml:lang=\"EN-US\" data-contrast=\"none\"><span class=\"NormalTextRun SCXW192834399 BCX0\">The robot was designed for maneuverability, user-friendly control, and environmental awareness. It consists of two Arduino Uno boards: one responsible for motor control and Bluetooth communication, and the other handling ultrasonic distance sensing and buzzer feedback. The driving system uses Swedish wheels for omnidirectional movement and L298N motor drivers for speed and direction control. A mobile app with dual virtual joysticks controls the robot: the left joystick manages movement on the x and y axes, while the right joystick handles rotation. A last-minute issue during development required the use of two separate Arduinos to ensure stability during the presentation.<\/span><\/span><span class=\"EOP SCXW192834399 BCX0\" data-ccp-props=\"{}\">\u00a0<\/span><\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"alignnone wp-image-8207\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2025\/06\/omni_beast_pic_side-300x169.jpg\" alt=\"\" width=\"585\" height=\"330\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2025\/06\/omni_beast_pic_side-300x169.jpg 300w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2025\/06\/omni_beast_pic_side-1024x577.jpg 1024w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2025\/06\/omni_beast_pic_side-768x432.jpg 768w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2025\/06\/omni_beast_pic_side-1536x865.jpg 1536w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2025\/06\/omni_beast_pic_side-2048x1153.jpg 2048w\" sizes=\"auto, (max-width: 585px) 100vw, 585px\" \/><\/p>\n<h2><span class=\"TextRun SCXW47987511 BCX0\" lang=\"EN-US\" xml:lang=\"EN-US\" data-contrast=\"none\"><span class=\"NormalTextRun SCXW47987511 BCX0\" data-ccp-parastyle=\"heading 2\">Components<\/span><\/span><span class=\"EOP SCXW47987511 BCX0\" data-ccp-props=\"{&quot;134245418&quot;:true,&quot;134245529&quot;:true,&quot;335559738&quot;:160,&quot;335559739&quot;:80}\">\u00a0<\/span><\/h2>\n<ul>\n<li><span data-contrast=\"auto\">Arduino Uno Microcontroller <\/span><i><span data-contrast=\"auto\">(2x)<\/span><\/i><span data-ccp-props=\"{}\">\u00a0<\/span><\/li>\n<li><span data-contrast=\"auto\">L298N Motordriver <\/span><i><span data-contrast=\"auto\">(2x)<\/span><\/i><\/li>\n<li><span data-contrast=\"auto\">TT DC Motor <\/span><i><span data-contrast=\"auto\">(4x)<\/span><\/i><span data-ccp-props=\"{}\">\u00a0<\/span><\/li>\n<li><span data-contrast=\"auto\">Omniwheels <\/span><i><span data-contrast=\"auto\">(4x)<\/span><\/i><span data-ccp-props=\"{}\">\u00a0<\/span><\/li>\n<li><span data-contrast=\"auto\">2500mah Rechargeable AA Batteries <\/span><i><span data-contrast=\"auto\">(6x)<\/span><\/i><\/li>\n<li>On\/Off switch<span data-ccp-props=\"{&quot;134233117&quot;:false,&quot;134233118&quot;:false,&quot;201341983&quot;:0,&quot;335551550&quot;:1,&quot;335551620&quot;:1,&quot;335559685&quot;:720,&quot;335559737&quot;:0,&quot;335559738&quot;:160,&quot;335559739&quot;:80,&quot;335559740&quot;:279}\">\u00a0<\/span><\/li>\n<li><span data-contrast=\"auto\">App<\/span><span data-ccp-props=\"{}\">\u00a0<\/span><\/li>\n<li><span data-contrast=\"auto\">Sound Buzzer<\/span><span data-ccp-props=\"{}\">\u00a0<\/span><\/li>\n<li><span data-contrast=\"auto\">Distance Sensor<\/span><span data-ccp-props=\"{}\">\u00a0<\/span><\/li>\n<li><span data-contrast=\"auto\">Bluetooth Module HC-05<\/span><\/li>\n<\/ul>\n<p><span data-ccp-props=\"{}\">\u00a0<\/span><img loading=\"lazy\" decoding=\"async\" class=\"alignnone wp-image-8206\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2025\/06\/omni_beast_pic_nr2-300x225.jpg\" alt=\"\" width=\"395\" height=\"296\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2025\/06\/omni_beast_pic_nr2-300x225.jpg 300w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2025\/06\/omni_beast_pic_nr2-1024x768.jpg 1024w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2025\/06\/omni_beast_pic_nr2-768x576.jpg 768w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2025\/06\/omni_beast_pic_nr2-1536x1152.jpg 1536w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2025\/06\/omni_beast_pic_nr2-2048x1536.jpg 2048w\" sizes=\"auto, (max-width: 395px) 100vw, 395px\" \/><img loading=\"lazy\" decoding=\"async\" class=\"alignnone wp-image-8205\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2025\/06\/omni_beast_main_pic-225x300.jpg\" alt=\"\" width=\"241\" height=\"322\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2025\/06\/omni_beast_main_pic-225x300.jpg 225w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2025\/06\/omni_beast_main_pic-768x1024.jpg 768w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2025\/06\/omni_beast_main_pic-1152x1536.jpg 1152w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2025\/06\/omni_beast_main_pic-1536x2048.jpg 1536w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2025\/06\/omni_beast_main_pic-scaled.jpg 1920w\" sizes=\"auto, (max-width: 241px) 100vw, 241px\" \/><\/p>\n<h2 aria-level=\"2\"><span data-contrast=\"none\">Functionality<\/span><span data-ccp-props=\"{&quot;134245418&quot;:true,&quot;134245529&quot;:true,&quot;335559738&quot;:160,&quot;335559739&quot;:80}\">\u00a0<\/span><\/h2>\n<p><span data-contrast=\"auto\">The functionality of the robot can be summarized as:<\/span><span data-ccp-props=\"{&quot;134233117&quot;:false,&quot;134233118&quot;:false,&quot;201341983&quot;:0,&quot;335551550&quot;:1,&quot;335551620&quot;:1,&quot;335559685&quot;:0,&quot;335559737&quot;:0,&quot;335559738&quot;:0,&quot;335559739&quot;:160,&quot;335559740&quot;:279}\">\u00a0<\/span><\/p>\n<ol>\n<li><span data-contrast=\"auto\">Driving with Omniwheels<\/span><span data-ccp-props=\"{&quot;134233117&quot;:false,&quot;134233118&quot;:false,&quot;201341983&quot;:0,&quot;335551550&quot;:1,&quot;335551620&quot;:1,&quot;335559737&quot;:0,&quot;335559738&quot;:0,&quot;335559739&quot;:160,&quot;335559740&quot;:279}\">\u00a0<\/span><\/li>\n<li><span data-contrast=\"auto\">Remote Control by App<\/span><span data-ccp-props=\"{&quot;134233117&quot;:false,&quot;134233118&quot;:false,&quot;201341983&quot;:0,&quot;335551550&quot;:1,&quot;335551620&quot;:1,&quot;335559737&quot;:0,&quot;335559738&quot;:0,&quot;335559739&quot;:160,&quot;335559740&quot;:279}\">\u00a0<\/span><\/li>\n<li><span data-contrast=\"auto\">Distance Control by Sound<\/span><span data-ccp-props=\"{&quot;134233117&quot;:false,&quot;134233118&quot;:false,&quot;201341983&quot;:0,&quot;335551550&quot;:1,&quot;335551620&quot;:1,&quot;335559737&quot;:0,&quot;335559738&quot;:0,&quot;335559739&quot;:160,&quot;335559740&quot;:279}\">\u00a0<\/span><\/li>\n<\/ol>\n<h3><span data-contrast=\"none\">(1) Driving with Omniwheels<\/span><span data-ccp-props=\"{&quot;134245418&quot;:true,&quot;134245529&quot;:true,&quot;335559738&quot;:160,&quot;335559739&quot;:80}\">\u00a0<\/span><\/h3>\n<p><span data-contrast=\"auto\">This part was the main and most important part of our project. <\/span><span data-contrast=\"none\">The robot employs Swedish (also known as omni-) wheels, allowing movement in any direction without rotating the chassis. The four TT DC motors are driven by two L298N motor drivers, and the movement logic is implemented using a omnwheelDrive algorithm. This setup enables translation in x\/y directions as well as in-place rotation, providing high maneuverability in tight spaces.<\/span><span data-ccp-props=\"{&quot;335551550&quot;:0,&quot;335551620&quot;:0}\">\u00a0<\/span><\/p>\n<p>&nbsp;<\/p>\n<h3><span data-contrast=\"none\">(2) Remote Control by App<\/span><span data-ccp-props=\"{&quot;134233117&quot;:false,&quot;134233118&quot;:false,&quot;134245418&quot;:true,&quot;134245529&quot;:true,&quot;201341983&quot;:0,&quot;335551550&quot;:1,&quot;335551620&quot;:1,&quot;335559685&quot;:720,&quot;335559737&quot;:0,&quot;335559738&quot;:160,&quot;335559739&quot;:80,&quot;335559740&quot;:279,&quot;335559991&quot;:360}\">\u00a0<\/span><\/h3>\n<p><span data-contrast=\"auto\">We designed a mobile app using MIT App Inventor. It features two virtual joysticks:<\/span><span data-ccp-props=\"{&quot;134233117&quot;:false,&quot;134233118&quot;:false,&quot;201341983&quot;:0,&quot;335551550&quot;:1,&quot;335551620&quot;:1,&quot;335559685&quot;:0,&quot;335559737&quot;:0,&quot;335559738&quot;:0,&quot;335559739&quot;:160,&quot;335559740&quot;:279}\">\u00a0<\/span><\/p>\n<ul>\n<li data-leveltext=\"\uf0b7\" data-font=\"Symbol\" data-listid=\"7\" data-list-defn-props=\"{&quot;335552541&quot;:1,&quot;335559683&quot;:0,&quot;335559684&quot;:-2,&quot;335559685&quot;:720,&quot;335559991&quot;:360,&quot;469769226&quot;:&quot;Symbol&quot;,&quot;469769242&quot;:[8226],&quot;469777803&quot;:&quot;left&quot;,&quot;469777804&quot;:&quot;\uf0b7&quot;,&quot;469777815&quot;:&quot;hybridMultilevel&quot;}\" aria-setsize=\"-1\" data-aria-posinset=\"1\" data-aria-level=\"1\"><span data-contrast=\"auto\">The\u00a0left joystick\u00a0controls directional movement (forward\/backward and sideways).<\/span><span data-ccp-props=\"{&quot;134233117&quot;:false,&quot;134233118&quot;:false,&quot;201341983&quot;:0,&quot;335551550&quot;:1,&quot;335551620&quot;:1,&quot;335559737&quot;:0,&quot;335559738&quot;:0,&quot;335559739&quot;:160,&quot;335559740&quot;:279}\">\u00a0<\/span><\/li>\n<\/ul>\n<ul>\n<li data-leveltext=\"\uf0b7\" data-font=\"Symbol\" data-listid=\"7\" data-list-defn-props=\"{&quot;335552541&quot;:1,&quot;335559683&quot;:0,&quot;335559684&quot;:-2,&quot;335559685&quot;:720,&quot;335559991&quot;:360,&quot;469769226&quot;:&quot;Symbol&quot;,&quot;469769242&quot;:[8226],&quot;469777803&quot;:&quot;left&quot;,&quot;469777804&quot;:&quot;\uf0b7&quot;,&quot;469777815&quot;:&quot;hybridMultilevel&quot;}\" aria-setsize=\"-1\" data-aria-posinset=\"2\" data-aria-level=\"1\"><span data-contrast=\"auto\">The\u00a0right joystick\u00a0is dedicated to rotation.<\/span><span data-ccp-props=\"{&quot;134233117&quot;:false,&quot;134233118&quot;:false,&quot;201341983&quot;:0,&quot;335551550&quot;:1,&quot;335551620&quot;:1,&quot;335559737&quot;:0,&quot;335559738&quot;:0,&quot;335559739&quot;:160,&quot;335559740&quot;:279}\">\u00a0<\/span><\/li>\n<\/ul>\n<p><span data-contrast=\"auto\">The app sends joystick data as a formatted string over Bluetooth via an HC-05 module. The receiving Arduino parses this data, translates the values into motor commands using trigonometric functions, and drives the motors accordingly. This enables intuitive and responsive control over the robot.<\/span><span data-ccp-props=\"{&quot;134233117&quot;:false,&quot;134233118&quot;:false,&quot;201341983&quot;:0,&quot;335551550&quot;:1,&quot;335551620&quot;:1,&quot;335559685&quot;:0,&quot;335559737&quot;:0,&quot;335559738&quot;:0,&quot;335559739&quot;:160,&quot;335559740&quot;:279}\"> The following picture shows how the app looks like on the phone, with the two joysticks and the &#8220;connection&#8221; and &#8220;disconnection&#8221; buttons in spanish.<\/span><\/p>\n<p><span data-ccp-props=\"{&quot;134233117&quot;:false,&quot;134233118&quot;:false,&quot;201341983&quot;:0,&quot;335551550&quot;:1,&quot;335551620&quot;:1,&quot;335559685&quot;:0,&quot;335559737&quot;:0,&quot;335559738&quot;:0,&quot;335559739&quot;:160,&quot;335559740&quot;:279}\"> <img loading=\"lazy\" decoding=\"async\" class=\"alignnone wp-image-8202\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2025\/06\/app_picture_MR_omnibeast-300x138.jpg\" alt=\"\" width=\"717\" height=\"330\" srcset=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2025\/06\/app_picture_MR_omnibeast-300x138.jpg 300w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2025\/06\/app_picture_MR_omnibeast-1024x473.jpg 1024w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2025\/06\/app_picture_MR_omnibeast-768x354.jpg 768w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2025\/06\/app_picture_MR_omnibeast-1536x709.jpg 1536w, https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2025\/06\/app_picture_MR_omnibeast.jpg 2048w\" sizes=\"auto, (max-width: 717px) 100vw, 717px\" \/><\/span><\/p>\n<h3><span data-contrast=\"none\">(3) Distance Control by Sound<\/span><span data-ccp-props=\"{&quot;134233117&quot;:false,&quot;134233118&quot;:false,&quot;134245418&quot;:true,&quot;134245529&quot;:true,&quot;201341983&quot;:0,&quot;335551550&quot;:1,&quot;335551620&quot;:1,&quot;335559685&quot;:720,&quot;335559737&quot;:0,&quot;335559738&quot;:160,&quot;335559739&quot;:80,&quot;335559740&quot;:279,&quot;335559991&quot;:360}\">\u00a0<\/span><\/h3>\n<p><span data-contrast=\"auto\">To enhance situational awareness, the second Arduino processes distance measurements using an ultrasonic sensor. When an object is detected closer than 50 cm, a buzzer emits warning beeps. As the object gets closer, the beeping interval decreases. If an object is extremely close (less than 10 cm), the buzzer emits a continuous tone. This mechanism resembles a parking sensor system and increases the robot\u2019s usability in dynamic environments.<\/span><span data-ccp-props=\"{}\">\u00a0<\/span><\/p>\n<h2><span data-ccp-props=\"{}\"> <span class=\"TextRun SCXW167069483 BCX0\" lang=\"EN-US\" xml:lang=\"EN-US\" data-contrast=\"none\"><span class=\"NormalTextRun SCXW167069483 BCX0\" data-ccp-parastyle=\"heading 2\">Development &amp; Implementation<\/span><\/span><span class=\"EOP SCXW167069483 BCX0\" data-ccp-props=\"{&quot;134245418&quot;:true,&quot;134245529&quot;:true,&quot;335559738&quot;:160,&quot;335559739&quot;:80}\">\u00a0<\/span><\/span><\/h2>\n<p><span data-contrast=\"auto\">During the development process, we faced a significant bug shortly before the final presentation. To ensure functional separation and simplify debugging, we decided to split the system across two Arduinos: one for movement and control logic, and the other for sensor processing and audio output. This solution allowed us to quickly isolate issues and guaranteed that both subsystems worked independently.<\/span><span data-ccp-props=\"{&quot;134233117&quot;:false,&quot;134233118&quot;:false,&quot;335551550&quot;:0,&quot;335551620&quot;:0,&quot;335559738&quot;:240,&quot;335559739&quot;:240}\">\u00a0<\/span><\/p>\n<p><span data-contrast=\"auto\">The driving Arduino interprets Bluetooth commands and implements the omniwheel drive logic. The code includes functions to parse joystick angles and strengths, convert them to Cartesian coordinates, and apply them to the motor control algorithm. On the other hand, the sensor Arduino continuously measures distances and drives the buzzer output based on proximity, providing real-time feedback without interrupting motor control tasks.<\/span><span data-ccp-props=\"{&quot;134233117&quot;:false,&quot;134233118&quot;:false,&quot;335551550&quot;:0,&quot;335551620&quot;:0,&quot;335559738&quot;:240,&quot;335559739&quot;:240}\">\u00a0<\/span><\/p>\n<h2>Further improvements<\/h2>\n<ul>\n<li>Improving grid and strength from omniwheels to ground &#8211; more friction (spins too much)<\/li>\n<li>Fix bug with distance sensor so we could have only one microcontroller<\/li>\n<\/ul>\n<h2>Video<\/h2>\n<div style=\"width: 600px;\" class=\"wp-video\"><video class=\"wp-video-shortcode\" id=\"video-8199-1\" width=\"600\" height=\"338\" preload=\"metadata\" controls=\"controls\"><source type=\"video\/mp4\" src=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2025\/06\/omni_beast_video.mp4?_=1\" \/><a href=\"https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2025\/06\/omni_beast_video.mp4\">https:\/\/dyor.webs.upv.es\/wp-content\/uploads\/2025\/06\/omni_beast_video.mp4<\/a><\/video><\/div>\n<p>&nbsp;<\/p>\n<p>This project was made by Janik Bleul and Ole Magnus L\u00e6rum in Mobile Robotics Class of 2025 at UPV.<\/p>","protected":false},"excerpt":{"rendered":"<p>Introduction\u00a0 In our robotics project, we developed a mobile robot capable of omnidirectional movement and proximity-based audio feedback. The robot is based on a metal chassis and uses four Omniwheels (Swedish Wheels) powered by four TT DC motors. It is wirelessly controlled through a mobile app created with MIT App Inventor, communicating via Bluetooth. Additionally, [&hellip;]<\/p>\n","protected":false},"author":1033,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"_jetpack_memberships_contains_paid_content":false,"footnotes":"","jetpack_publicize_message":"","jetpack_publicize_feature_enabled":true,"jetpack_social_post_already_shared":true,"jetpack_social_options":{"image_generator_settings":{"template":"highway","default_image_id":0,"font":"","enabled":false},"version":2}},"categories":[81],"tags":[],"class_list":["post-8199","post","type-post","status-publish","format-standard","hentry","category-blog"],"aioseo_notices":[],"jetpack_publicize_connections":[],"jetpack_featured_media_url":"","jetpack_sharing_enabled":true,"jetpack-related-posts":[{"id":5980,"url":"https:\/\/dyor.webs.upv.es\/en\/english-dyor-minion-maria\/","url_meta":{"origin":8199,"position":0},"title":"DYOR Minion &#8211; Mar\u00eda","author":"Maria Torrecilla","date":"Wednesday June 26th, 2024","format":false,"excerpt":"In this entry the DYOR Minion robot is presented. It is a robot that has been created in the Mobile Robotics class at UPV. DYOR Minion \u00a0 Components The following components have been used: Laser cut wooden parts in the shape of a minion Arduino Nano v3.0 \u00a0I\/O Extension Shield\u2026","rel":"","context":"In &quot;Blog&quot;","block_context":{"text":"Blog","link":"https:\/\/dyor.webs.upv.es\/en\/category\/blog\/"},"img":{"alt_text":"","src":"https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/Minion.jpeg?resize=350%2C200&ssl=1","width":350,"height":200,"srcset":"https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/Minion.jpeg?resize=350%2C200&ssl=1 1x, https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/Minion.jpeg?resize=525%2C300&ssl=1 1.5x, https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/Minion.jpeg?resize=700%2C400&ssl=1 2x, https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/Minion.jpeg?resize=1050%2C600&ssl=1 3x, https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/Minion.jpeg?resize=1400%2C800&ssl=1 4x"},"classes":[]},{"id":5952,"url":"https:\/\/dyor.webs.upv.es\/en\/english-dyor-sponge-rob\/","url_meta":{"origin":8199,"position":1},"title":"DYOR Sponge Rob","author":"Andres","date":"Wednesday June 26th, 2024","format":false,"excerpt":"In this entry I will present my robot from the Mobile Robotics class at UPV based on the DYOR Robot Concept. Design For this project, I used the design of DYOR robot base and I redesigned in solidworks robot hands and face. After, I assembled a 3D model as shown\u2026","rel":"","context":"In &quot;Blog&quot;","block_context":{"text":"Blog","link":"https:\/\/dyor.webs.upv.es\/en\/category\/blog\/"},"img":{"alt_text":"","src":"https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/Imagen1-300x212.png?resize=350%2C200&ssl=1","width":350,"height":200},"classes":[]},{"id":7676,"url":"https:\/\/dyor.webs.upv.es\/en\/english-dyor-mobile-robotics-report-colorbot\/","url_meta":{"origin":8199,"position":2},"title":"DYOR: Mobile Robotics Report &#8211; ColorBot","author":"JosefKhedri","date":"Wednesday June 26th, 2024","format":false,"excerpt":"This report presents our work behind the ColorBot, made for the main assignment in the course Mobile Robotics at the UPV. Design of the Robot: Parts: Arduino Nano with Extension Shield Color Sensor (TCS3200) Bluetooth Module (HC-06) 8x8 LED-matrix Infrared Sensor (TCRT5000) 2x FS90R servos with 60mm wheels Castor Wheel\u2026","rel":"","context":"In &quot;Blog&quot;","block_context":{"text":"Blog","link":"https:\/\/dyor.webs.upv.es\/en\/category\/blog\/"},"img":{"alt_text":"","src":"https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2024\/06\/WhatsApp-Bild-2024-06-15-kl.-12.49.27_386e7423-225x300.jpg?resize=350%2C200&ssl=1","width":350,"height":200},"classes":[]},{"id":8217,"url":"https:\/\/dyor.webs.upv.es\/en\/thomas-the-train\/","url_meta":{"origin":8199,"position":3},"title":"THOMAS-The Train","author":"anastasia_dalaki","date":"Monday June 16th, 2025","format":false,"excerpt":"This project was created for the Mobile Robotics course at the Polytechnic University of Valencia, is based on DYOR Robot. The inspiration about the robot was the animation Thomas the train. \u00a0 COMPONENT LIST 3 Ultrasound sensors\u00a0 1 TCRT5000 ( Line follower)\u00a0 1 Led matrix \u00a0 1 Esp32 wroom devkit\u00a0\u2026","rel":"","context":"In &quot;Blog&quot;","block_context":{"text":"Blog","link":"https:\/\/dyor.webs.upv.es\/en\/category\/blog\/"},"img":{"alt_text":"","src":"https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2025\/06\/WhatsApp-Image-2025-06-12-at-8.42.40-PM.jpeg?resize=350%2C200&ssl=1","width":350,"height":200,"srcset":"https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2025\/06\/WhatsApp-Image-2025-06-12-at-8.42.40-PM.jpeg?resize=350%2C200&ssl=1 1x, https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2025\/06\/WhatsApp-Image-2025-06-12-at-8.42.40-PM.jpeg?resize=525%2C300&ssl=1 1.5x, https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2025\/06\/WhatsApp-Image-2025-06-12-at-8.42.40-PM.jpeg?resize=700%2C400&ssl=1 2x"},"classes":[]},{"id":5839,"url":"https:\/\/dyor.webs.upv.es\/en\/english-dyor-darthbot\/","url_meta":{"origin":8199,"position":4},"title":"DYOR DarthBot","author":"DanielMoreno","date":"Wednesday June 26th, 2024","format":false,"excerpt":"In this post I will explain DarthBot, the robot I have made for the mobile robotics subject at UPV. The robot is based on Dart Vader. Desing For the design, I have used a premade kit and I have modified it a bit adding a wood structure so that the\u2026","rel":"","context":"In &quot;Blog&quot;","block_context":{"text":"Blog","link":"https:\/\/dyor.webs.upv.es\/en\/category\/blog\/"},"img":{"alt_text":"","src":"https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/Robot-1.jpg?resize=350%2C200&ssl=1","width":350,"height":200,"srcset":"https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/Robot-1.jpg?resize=350%2C200&ssl=1 1x, https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/Robot-1.jpg?resize=525%2C300&ssl=1 1.5x, https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2021\/06\/Robot-1.jpg?resize=700%2C400&ssl=1 2x"},"classes":[]},{"id":7349,"url":"https:\/\/dyor.webs.upv.es\/en\/english-frogbot3000\/","url_meta":{"origin":8199,"position":5},"title":"FrogBot3000","author":"leoharling","date":"Friday June 30th, 2023","format":false,"excerpt":"This post presents FrogBot 3000 a low-cost Arduino-based mobile robot DYOR: FrogBot3000 mobile robot build GOAL The goal is to build a mobile robot based on a frog. It will be able to raise and lower its arms, move in any direction, display a plethora of emotions, follow a black\u2026","rel":"","context":"In &quot;Blog&quot;","block_context":{"text":"Blog","link":"https:\/\/dyor.webs.upv.es\/en\/category\/blog\/"},"img":{"alt_text":"","src":"https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2023\/06\/IMG_0431-scaled.jpeg?resize=350%2C200&ssl=1","width":350,"height":200,"srcset":"https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2023\/06\/IMG_0431-scaled.jpeg?resize=350%2C200&ssl=1 1x, https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2023\/06\/IMG_0431-scaled.jpeg?resize=525%2C300&ssl=1 1.5x, https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2023\/06\/IMG_0431-scaled.jpeg?resize=700%2C400&ssl=1 2x, https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2023\/06\/IMG_0431-scaled.jpeg?resize=1050%2C600&ssl=1 3x, https:\/\/i0.wp.com\/dyor.webs.upv.es\/wp-content\/uploads\/2023\/06\/IMG_0431-scaled.jpeg?resize=1400%2C800&ssl=1 4x"},"classes":[]}],"jetpack_likes_enabled":true,"_links":{"self":[{"href":"https:\/\/dyor.webs.upv.es\/en\/wp-json\/wp\/v2\/posts\/8199","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/dyor.webs.upv.es\/en\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/dyor.webs.upv.es\/en\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/dyor.webs.upv.es\/en\/wp-json\/wp\/v2\/users\/1033"}],"replies":[{"embeddable":true,"href":"https:\/\/dyor.webs.upv.es\/en\/wp-json\/wp\/v2\/comments?post=8199"}],"version-history":[{"count":8,"href":"https:\/\/dyor.webs.upv.es\/en\/wp-json\/wp\/v2\/posts\/8199\/revisions"}],"predecessor-version":[{"id":8254,"href":"https:\/\/dyor.webs.upv.es\/en\/wp-json\/wp\/v2\/posts\/8199\/revisions\/8254"}],"wp:attachment":[{"href":"https:\/\/dyor.webs.upv.es\/en\/wp-json\/wp\/v2\/media?parent=8199"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/dyor.webs.upv.es\/en\/wp-json\/wp\/v2\/categories?post=8199"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/dyor.webs.upv.es\/en\/wp-json\/wp\/v2\/tags?post=8199"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}