January 2022

Arduino and Robotics

From Development to Implementation
 Table of Contents

04 CHAPTER - 1 Introduction and a Brief Overview

04 CHAPTER - 2 Arduino Hardware and Interfaces

05 CHAPTER - 3 Shields and Add-on Boards

09 CHAPTER - 4 Programming and Applications

Image Source Front Cover: Pxfuel

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Arduino and Robotics

element14 is a Community of over 800,000 makers, professional engineers, electronics enthusiasts, and
everyone in between. Since our beginnings in 2009, we have provided a place to discuss electronics, get
help with your designs and projects, show off your skills by building a new prototype, and much more. We
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and electronics competitions with our Design Challenges.

The Arduino platform is popular both with beginners in the world of electronics and with seasoned
engineers. Arduino has a wide range of options for robotics applications, with a variety of base Arduino
boards available as well as many expansion options to add features and functionality. This eBook will
discuss how to get started in robotics using Arduino, with a discussion of the hardware and interfaces,
programming an Arduino, some example robotics projects, and much more.

element14 Community Team

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CHAPTER - 1 Introduction and a Brief Overview
Arduino boards are open-source electronics
platforms outfitted with microcontrollers, flash
memory, I/O (Input/Output) pins, various ports, and
other connectors for programming and connecting to
other devices. The first board, the Serial Arduino, was
introduced in 2005 by an Italian startup of the same
name, and was designed as a low-cost platform to
create devices that can interact with the environment
using sensors and actuators. Some examples of
devices created using Arduino include handheld
gaming consoles, soil monitors, home automation
systems, and more.
There are many different Arduino boards on the
market, each suited for specific applications, such
as the Internet of Things (IoT), interactive displays,
remote sensing, and robotics. Arduino’s current
lineup includes the Uno, Leonardo, Nano, Nano Every,
Zero, MKR Zero, Teensy, Due, Mega, and Micro, each
outfitted with a microcontroller, I/O pins, and interfaces.
There are also many different add-on boards, known
as Shields, that add additional features to the base
boards, including sensors, wireless functionality, and
relays, among a host of others.

The Arduino platform is popular both with people

just starting with electronics, as well as engineers
with years of experience. Unlike most previous
programmable circuit boards in decades past, the
Arduino does not need a separate piece of hardware
(called a programmer) to program and upload code
to the board; users simply use a pre-programmed
SD card, or they connect the board to a computer.
Additionally, the Arduino IDE (Integrated Development
Environment), based on a simplified version of C++,
makes it easier to learn to program Arduino hardware. The Arduino Uno Rev 3
The platform also provides a standard form factor that
Image Source: Arduino - It is a popular development board
breaks out the microcontroller’s functions into a more among enthusiasts and can be used for various projects.
accessible package.

CHAPTER - 2 Arduino Hardware and Interfaces

While there are a host of different Arduino boards, they
all feature some form of similar hardware, connectors,
and interfaces. This includes a microcontroller, which
allows users to program the Arduino for it to be able
to execute commands and make decisions based on
input. The chips vary depending on the type of Arduino;
most are outfitted with Atmel controllers, usually an
ATmega8, ATmega168, ATmega328, ATmega1280,
or ATmega2560. The differences between the chips
are subtle, but the biggest is typically the amount of
onboard memory, including up to 32 Kb of Flash, 2 Kb
of SRAM, and 1 Kb of EEPROM.
The differences between these memory types are:
• Flash memory is the program space. It’s where the
program code the runs the Arduino is loaded.
• SRAM (static random access memory) stores the
temporary data that is generated during operation.
Most variables are held here.
• EEPROM (electrically erasable programmable
read-only memory) is the memory that stores long
term information.
SRAM is considered volatile memory, meaning that its

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data is cleared when the unit is powered off. Flash and EEPROM are, by contrast, non-volatile; they retain their
data through power cycles.

Arduinos also include a set of I/O pins (usually 14) which can vary from board to board and come in two varieties –
digital pins that can read and write in a single state (on/off), and analog, which can read in a range of values. These
pins are oriented in a specific array for easy connection with add-on boards and other hardware. Most Arduino
boards are also outfitted with a barrel jack to provide power, even to other boards that are connected; however,
some Arduino boards can also be powered by a battery, if needed. Some also include a serial connector, which
is typically implemented via a standard USB port. This connector allows users to communicate to the board from
their computer and load new programs onto the device. Often Arduinos can also be powered through the USB port,
negating the need for a separate power connection altogether. The boards are also outfitted with a variety of other
components, including oscillators, voltage regulators, status LEDs, reset buttons, and more.

CHAPTER - 3 Shields and Add-on Boards

As mentioned earlier, Shields are modular circuit
boards that piggyback onto the Arduino to provide
extra functionality. Want to connect your Arduino
to the Internet and post to Twitter? There’s a shield
for that. Want to make your Arduino an autonomous
rover? There are shields for that. There are many
different shields out there, all of which make your
Arduino more than just a development board. Many
Shields are also stackable, allowing users to connect
several boards for project-specific applications. For
example, combining an Arduino Uno with a Voice Box
Shield and WiFly Shield would allow users to create a
Wi-Fi-enabled Darth Vader voice.
Shields also have a compatible format that makes
them connect easily to an Arduino using the pin
headers, including pins for power and ground on one
eight (previously six) pin header and analog pins on
a six-pin header on another. Digital pins cover the
opposite edge on the other side, sometimes with an
eight-pin header separated from a 10-pin by a 0.5-
inch spacing. Some shields also require a connection
to the Arduino’s ICSP header to function correctly.
pressure, light, temperature, and humidity, a must for
robots working outdoors.
Other beneficial Shields include the Arduino Motor
Shield Rev3, a dual-bridge driver able to drive
inductive loads such as relays and solenoids, along
with DC and stepper motors. The Arduino 9 Axis Motion
Shield packs a triaxial 14-bit accelerometer, a triaxial
16-bit gyroscope with a range of ±2000 degrees per
second, and a triaxial geomagnetic sensor with a 32-
bit microcontroller, which is excellent for robots that
require spatial orientation. Another great board is the
Arduino 4 Relays Shield, which allows users to drive
high power loads that Arduino’s digital IOs cannot
control, due to the current and voltage limits of the
controller. Finally, the Arduino Proto Shield Rev3 is
a general-purpose board for creating custom circuits
and prototyping and features SPI signal pads, a 24-
pin SMD footprint, and more.

Since this eBook deals specifically with robotics

projects, some of the best shields for that application
include the Arduino MKR Motor Carrier, which is
outfitted with several outputs for controlling stepper,
servo, and DC motors. It also features several inputs
for encoders and analog sensors, making it ideal for Arduino MKR Motor Carrier
robots to sense their environment. The Arduino MKR Image Source: Arduino - It is designed to control stepper,
ENV Shield Rev2 also provides sensors for atmospheric servo, and DC motors, making it ideal for robotics projects.

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Arduino Self Balancing Robot
Image Source: midhun_s via Instructables - This Self Balancing Robot can remain upright even while stationary and can avoid
obstacles as it moves around.
There are hundreds, if not thousands, of robot projects
online that use the Arduino in one form or another.
The same can be said for their levels of complexity,
which can range from simple rovers to complicated
3D-printed constructs. That said, the following are
several excellent examples of robot projects that take
advantage of the Arduino platform.
Midhun_s’ Self Balancing Robot is a great entry-level
build, and can remain upright even while moving and
avoiding obstacles in its path. The tiny 4-inch-tall
robot was designed around the Arduino Pro Mini and
uses an MPU6050 accelerometer-gyroscope module
to maintain balance. A DRV8833 Pololu motor driver
Arduino Controlled Robotic Biped
Technovation’s Arduino Controlled Robotic Biped
is another little robot driven by an Arduino, in this
case, the Uno. The build is a great example of
how a bipedal robot is designed and constructed
using readily available hardware, except for its
3D printed legs. Technovation designed the robot
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with micro metal gear motors allows the robot to
move. At the same time, a pair of ultrasonic sensors
detect the objects within its path to help navigate
around them.
The hardware is situated on three prototype boards
and wired to the Arduino, giving it a WALL-E-like
appearance. The Self Balancing Robot maintains
its balance similar to an upside-down pendulum;
when the pendulum starts to fall in one direction, the
accelerometer/gyroscope module moves the robot
either forward or backward to compensate and keep
the robot upright.
using Fusion 360 3D modeling software, allowing
him to incorporate six servo motors, with three
in each leg. The brackets for the servo motors
provide a second pivot point opposite to its shaft,
which provides stability for the robot and prevents
any skewing of the legs when under load.
The Arduino Uno is responsible for computing the motion paths of the robot’s various gaits, and it
instructs the actuators to move to precise angles and speeds to create a smooth walking motion. While
it’s not totally necessary, Technovation incorporated a perf board with pin headers to keep the wiring
from the servo motors to the Arduino neat and out of the way. He also left space to eventually add
ultrasonic sensors and an IMU (Inertial Measurement Unit) for enhanced motion processing and fall
detection capability.

Image Source: Technovation via Instructables - This Arduino Controlled Robotic Biped can walk using 3D printed legs outfitted
with six servo motors.making it ideal for robotics projects.

Petoi’s OpenCat
Petoi took an interest in Boston Dynamic’s Spot Mini
robotic dog and thought it was a great accomplishment,
but way too expensive for the public to enjoy, so he
decided to build a less expensive alternative with
the OpenCat. The OpenCat robotic cat is one of
the more complex builds to take advantage of the
Arduino. In its current form (there have been seven
revisions), the OpenCat uses a Raspberry Pi 3 Model
B to control the robot’s higher functions and sensing
capabilities, including sonic sensors and LiDAR for
navigation. The Pi is paired with an Arduino Pro Mini
tasked to control the cat’s motion, which is driven by
13 MG92B servos and a single MG91 servo.
The OpenCat is also equipped with a Pi noir fisheye
camera, a GY-521 MPU-6050 3-axis gyroscope/
accelerometer, and a 3D printed body with torque
and tension springs that act as muscles. The robotic
cat is designed for STEM education and AI-enhanced
services, and has a top speed of three body lengths
per second. While it lacks the agility of living felines,
the OpenCat is programmed with multiple gates,
object detection/avoidance, motion tracking, and
facial recognition. It can even purr when it’s pet!

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Image Source: Petoi via Arduino - Petoi’s OpenCat uses an Arduino, Raspberry Pi, and motion algorithm to perform multiple
gaits and has a top speed of three body lengths per second.
CHAPTER - 4 Programming and Applications
Programming robots can be done using various apps,
including the Arduino IDE (Integrated Development
Environment), which is open-source and written in
Java (C++). The IDE allows users to write code in
a unique environment, with syntax highlighting and
other features designed to make coding easier. The
app includes a code editor with features such as text
cutting and pasting, text searching and replacement,
automatic indenting, brace matching, and it also
provides simple one-click mechanisms to compile
and upload programs, known as “sketches,” to an
Arduino board. It also provides a message area, a
text console, a toolbar with buttons for standard
functions, and operation menus.
Users will often upload the sketches they created for
specific project builds to sites that host open-source
content, allowing others to download and apply them
to their builds. This makes it easy for beginners to
complete their projects and learn how to code within
the IDE environment.
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Another popular software platform for robotics
projects is the Robotics Operating System (ROS),
and although it may sound like a traditional operating
system, it isn’t. Instead, the Robotics Operating
System is an open-source framework with libraries
and a set of tools that provide the functionality
of an OS on a heterogeneous computer cluster.
The platform provides services such as hardware
abstraction, low-level device control, implementation
of commonly-used functionality, message-passing
between processes, and package management.
ROS is based on a graph architecture where
processing occurs in nodes that may receive, post,
and multiplex sensor, control, state, planning,
actuator, and other messages. In other words, it
connects hardware with software to allow for an
advanced programming environment for controlling
low-level hardware. Users can even simulate their
processes and visualize them in 3D to see how the
robot will function. Although the Robotic Operating
System seems too far advanced for some users, there are many tutorials and walkthroughs that make it easy
to understand.

This eBook is just a brief overview of the Arduino platform and how it can be applied to robotics projects – it
only scratches the surface of what can be accomplished with a bit of hardware and imagination. The amount
of information available could fill volumes, and that information will continue to grow as new development
boards are introduced and as hardware continues to become more affordable. If you’ve ever wanted to try
your hand at building robots, now is a great time to take that first step into a wonderful world using Arduino!

Image Source: Arduino - The Arduino IDE allows users to program their builds using sketches written in a text editor or
downloaded from third-party sources.

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