Zumo Robot for Arduino, v1.2 (Assembled with 75:1 HP Motors)

A Zumo robot preparing to attack a Parallax SumoBot.

Zumo Robot for Arduino, v1.2.

This Zumo robot is a low-profile tracked robot platform intended for use with an Arduino (or compatible device, such as an A-Star 32U4 Prime) as its main controller. It measures less than 10 cm on each side and weighs approximately 300 g with an Arduino Uno and batteries (165 g without, as shipped), so it is both small enough and light enough to qualify for Mini-Sumo competitions. It uses two 75:1 HP micro metal gearmotors to drive the treads, providing plenty of torque and a top speed of approximately 2 feet per second (60 cm/s), which makes it much more agile than competing robots like the Solarbotics Sumovore and Parallax SumoBot while still offering plenty of control. The Zumo robot includes a 0.036"-thick laser-cut stainless steel sumo blade mounted to the front of the chassis for pushing around objects like other robots, and a reflectance sensor array mounted along the front edge of the Zumo (behind the sumo blade) allows the Zumo to detect features on the ground in front of it, such as lines for following or edges for avoiding.

The Zumo control board is essentially a shield for the A-Star 32U4 Prime, Arduino Uno or Arduino Leonardo, each of which can be plugged directly into the shield’s male header pins, face down. (It is not compatible with the Arduino Mega or Due, but it can be used with older Arduinos that have the same form factor as the Uno, such as the Duemilanove.) The shield includes dual motor drivers, a buzzer for playing simple sounds and music, a user pushbutton, and a 3-axis accelerometer, compass, and gyroscope for sensing impacts and tracking orientation. It also boosts the battery voltage to power the Arduino and breaks out the Arduino I/O lines, reset button, and user LED for convenient access and to accommodate additional sensors.

Pololu's Zumo Arduino libraries make it easy to interface with all of the integrated hardware, and Pololu provide a number of sample programs that show how to use the Zumo’s reflectance array, pushbutton, buzzer, and motors.

The robot ships as shown in the main product picture; no assembly or soldering is required. An appropriate Arduino (or compatible controller) and four AA batteries are required but not included.

New inertial sensors! In September 2020, Pololu started transitioning to shipping this robot with the v1.3 version of the Zumo Shield. The main difference is the new version replaces the shield’s inertial sensors with an LSM6DS33 accelerometer and gyro and an LIS3MDL magnetometer, as the LSM303D accelerometer and magnetometer used on the original revision has been discontinued. You can use Pololu's updated Zumo Shield Arduino library to help you write code that will work with the inertial sensors on either revision. In addition, the power switch and pushbuttons on the v1.3 shield have been changed to be surface-mount parts. For more information, see the user’s guide.All units shipping now from Pololu have the newer v1.3 shield. If you require units with the previous v1.2 version, please contact us before you place your order.

July 10, 2015 update: This robot now features black, spoked sprockets (see the main product picture) in place of the original white ones (which can still be seen in some of the pictures on this page).

Features

• Integrated 75:1 HP micro metal gearmotors that offer a good blend of speed (up to 2 feet per second), power, and control.
• Mounted array of six IR reflectance sensors that allows the Zumo to detect contrasts in reflectivity directly beneath its blade, which can be used for following lines or detecting edges (e.g. the white outer area of a sumo ring or the edge of a table).
• Integrated DRV8835 dual motor drivers capable of delivering enough current for the Zumo’s two high-power gearmotors.
• Buzzer for playing simple sounds and music. The buzzer is controlled by one of the Arduino’s PWM outputs, so tones can be generated in the background without taking up a lot of processing power.
• Integrated 3-axis accelerometer, gyro, and magnetometer. These inertial sensors can be used for applications like sensing impacts to the Zumo and measuring its rotation.* Optional user pushbutton on pin 12.
• 7.5 V boost regulator for powering the Arduino from the Zumo’s 4 AA batteries.
• Convenient access to Arduino I/O lines, the pin 13 user LED, and the Arduino reset line via the shield.
• General-purpose prototyping areas and an expansion area at the front for connecting additional sensors.
• Compatible with the Arduino Uno R3 and Arduino Leonardo. Can also be used with older Arduinos that have the same form factor, like the Duemilanove.
• Arduino libraries and sample code make getting started easy.
• Detailed user’s guide.

Required accessories (not included)

Arduino R3, top view.

• An Arduino or compatible control board. The Zumo Shield works with the A-Star 32U4 Prime, Arduino Uno and Arduino Leonardo. It is not compatible with the Arduino Mega or Due, but it can be used with older Arduinos that have the same form factor as the Uno, such as the Duemilanove. (Other Arduino-compatible controllers might work with the Zumo robot, but support for them will be limited and they might require modification; for example, one customer got his Zumo robot working with the Freescale FRDM-KL25Z board.)
• Four AA batteries. The Zumo chassis works with both alkaline and NiMH batteries, though Pololu recommend rechargeable NiMH cells.

Optional accessories

A variety of Sharp distance sensors.

• Optical rangefinders for obstacle/opponent detection. Pololu carry both analog and digital rangefinders that detect at distances useful in regulation mini-sumo rings.
• iMAX-B6AC battery charger for charging the Zumo’s battery’s through the Zumo Shield’s 2-pin charge port. Note that you only need a battery charger if you plan on powering the Zumo with rechargeable cells, and that charger should be capable of charging 4 NiMH cells in series. Alternatively, since the Zumo just uses ordinary AA batteries, you can use AA chargers (into which you stick the individual cells) available at most general electronics stores.
• Connectors (headers, jumper wires, etc) for adding more sensors.
• Replacement sprockets in red or white. The Zumo robot for Arduino includes the black sprockets shown in the left picture below, but other colors can be purchased separately if you want to add a bit of personalization to your robot. The following pictures show the newer Zumo 32U4 Robot, which is based on the same Zumo chassis and therefore uses the same sprockets:

Zumo 32U4 robot with black sprockets.

Zumo 32U4 robot with red sprockets.

Zumo 32U4 robot with white sprockets.

Also available as a kit

For those interested in soldering and assembling their own Zumo, the Zumo Robot Kit for Arduino contains the parts necessary to assemble your own Zumo robot, but allows you to select a different gear ratio micro metal gearmotor to make your Zumo faster or stronger. Note that unlike the assembled version, the kit does not include a Zumo reflectance sensor array.

Contents of the Zumo robot kit for Arduino, v1.2.

Comparison with the Zumo 32U4 robot

The newer Zumo 32U4 is another robot based on the Zumo chassis. It is a more highly integrated robot than the Zumo robot for Arduino, with enhancements that include a built-in Arduino-compatible ATmega32U4 microcontroller (the same one used in the Arduino Leonardo and A-Star 32U4 boards), an LCD, encoders for closed-loop motor control, and proximity sensors for obstacle detection. The Zumo 32U4 main board effectively combines the functions of the Zumo Shield and the separate Arduino controller into a single, compact board that is just as easy to program as a standard Arduino or A-Star thanks to its USB interface and preloaded Arduino-compatible bootloader.

A Zumo 32U4 robot (left) and a Zumo robot for Arduino with an A-Star 32U4 Prime LV (right).

Some of the pin mappings and software libraries differ between the Zumo 32U4 and Zumo robot for Arduino, so programs written for one robot generally need to be modified to work on the other.

People often buy this product together with:

Sharp GP2Y0A21YK0F Analog Distance Sensor 10-80cm

Arduino Uno R3

Dimensions

Notes:

1

with an Arduino Uno.

2

without batteries and an Arduino (~300 g with batteries and an Arduino Uno).

Documentation and other information

• 

  Pololu Zumo Shield for Arduino User’s Guide (Printable PDF)

  User’s manual for the Pololu Zumo Shield for Arduino.

File downloads

• Schematic diagram of the Zumo Shield for Arduino, v1.3 (183k pdf)

• Schematic diagram of the Zumo Shield for Arduino, v1.2 (449k pdf)

• Zumo Shield front expansion pinout (552k pdf)

• 3D model of the assembled Zumo Robot for Arduino (v1.3 Shield) (35MB step)

  This model uses simplified models of the control electronics to reduce the file size. More detailed models are available separately of the Zumo shield for arduino, v1.3 (17MB step) and Zumo reflectance sensor array (5MB step).

• 3D model of the assembled Zumo Robot for Arduino (v1.2 Shield) (33MB step)

  This model uses simplified models of the control electronics to reduce the file size. More detailed models are available separately of the Zumo shield for arduino, v1.2 (13MB step) and Zumo reflectance sensor array (5MB step).

• Dimension diagram of the Zumo Shield for Arduino, v1.3 (657k pdf)

• Dimension diagram of the Zumo Shield for Arduino, v1.2 (467k pdf)

• 3D model of the Zumo Shield for Arduino, v1.3 (17MB step)

• 3D model of the Zumo Shield for Arduino, v1.2 (13MB step)

• Guide utilisateur du Robot Zumo Pololu (2MB pdf)

  Un guide complet pour assembler, utiliser et exploiter rapidement votre Robot Zumo (version 0.1). Note: This French translation of Pololu's Zumo Robot for Arduino user’s guide was made by Pololu's distributor MCHobby.

Recommended links

• Zumo Shield Libraries

  This collection of libraries and examples for the Arduino that make it easy to program an Arduino-controlled robot built with Pololu’s Zumo Shield or Zumo robot kit (also available fully assembled).

• LSM303 Arduino library

  This is a library for the Arduino that interfaces with Pololu's LSM303D, LSM303DLHC, and LSM303DLM 3D compass and accelerometer carriers as well as the compass and accelerometer ICs on the MinIMU-9 v3 and AltIMU-10 v3 (it also works with older versions of those boards, some of which used the LSM303DLH and LSM303DLHC). It makes it simple to configure the device and read the raw accelerometer and magnetometer data, and it has a function for computing the tilt-compensated heading for those looking to use the LSM303 as a tilt-compensated compass.

• L3G Arduino library

  This is a library for the Arduino that interfaces with Pololu's L3GD20H and L3GD20 3-axis gyro carriers as well as the gyros on the MinIMU-9 v3 and AltIMU-10 v3 (it also works with older versions of those boards, some of which used the L3G4200D and the L3GD20). It makes it simple to configure the device and read the raw gyro data.

• Simulink Library for Zumo Robot

  This library can be used to program an Arduino-controlled Zumo through MATLAB and Simulink. It provides driver blocks for all the sensors present on the Zumo Robot as well as example models showing their usage.

• How to program a Zumo robot with Simulink

  This tutorial on the Adafruit Learning System guides you through the process of programming a Zumo robot with Simulink.

• Pixy Pet Robot tutorial: adding color vision to the Zumo Robot for Arduino with a Pixy CMUCam-5

  This tutorial from Adafruit shows how to pair a Pixy CMUCam-5 vision system with the Zumo Robot for Arduino to enable it to chase objects or follow you around.

• Zumo robot tuning tips

  This article was written by Professor Erich Styger for his class on embedded systems programming at the Lucerne University of Applied Sciences and Arts. It describes various ways to tweak the performance of a Zumo to be more competitive in a Mini Sumo competition. Note that his Zumos use a custom PCB rather than Pololu's Zumo shield for Arduino; Pololu's shield has a lot of capacitance in parallel with the batteries that generally prevents the “battery inertia” problem Erich describes.

• Using the L3GD20 gyroscope in control systems

  This is a YouTube playlist by control systems lecturer Brian Douglas that uses the L3GD20 MEMS gyroscope. It describes the fundamentals of the gyro and how to use it for closed and open loop control projects with MATLAB/Simulink and Arduino.

• Freedom Zumo Robot

  This robot is uses Pololu's Zumo robot kit, 75:1 micro metal gearmotors, and a Zumo reflectance sensor array. Instead of an Arduino it uses a Freescale FRDM-KL25Z as the microcontroller board, and sample code is available for line following and maze solving. By Erich, March 2013.

• Texas Instruments DRV8835 motor driver datasheet