Pololu Zumo 32U4 Robot (Assembled with 100:1 HP Motors)

The Zumo 32U4 is a highly integrated, user-programmable and customizable tracked robot. It measures less than 10 cm on each side and weighs approximately 275 g with batteries (170 g without), so it is both small enough and light enough to qualify for Mini-Sumo competitions, but its versatility makes it capable of much more than just robot sumo battles.

At the heart of the Zumo 32U4 is an ATmega32U4 AVR microcontroller from Microchip (formerly Atmel), and like Pololu's A-Star 32U4 programmable controllers, the Zumo 32U4 features a USB interface and ships preloaded with an Arduino-compatible bootloader. A software add-on is available that makes it easy to program the robot from the Arduino environment, and Pololu have Arduino libraries and example sketches to help get you started. A USB A to Micro-B cable (not included) is required for programming. For advanced users who want to customize or enhance their robots with additional peripherals, the robot’s power rails and microcontroller’s I/O lines can be accessed via 0.1"-spaced through-holes along the sides and front of the main board.

Assembled Zumo 32U4 robot, front view.

Assembled Zumo 32U4 robot, side view.

Assembled Zumo 32U4 robot, back view.

The Zumo 32U4 features two H-bridge motor drivers and a variety of integrated sensors, including a pair of quadrature encoders for closed-loop motor control, a complete inertial measurement unit (3-axis accelerometer, gyro, and magnetometer), five downward-facing reflectance sensors for line-following or edge-detection, and front- and side-facing proximity sensors for obstacle detection and ranging. Three on-board pushbuttons offer a convenient interface for user input, and an LCD, buzzer, and indicator LEDs allow the robot to provide feedback.

The Zumo 32U4 robot is available fully assembled with three different motor options (see the Motors section below for more information on how these different gear ratios perform):

• Assembled with 50:1 HP motors — highest speed and lowest torque of the three options
• Assembled with 75:1 HP motors — average speed and torque
• Assembled with 100:1 HP motors — highest torque and lowest speed

The Zumo 32U4 robot is also available as a kit (without motors) for those who would prefer to assemble it themselves or who want to use different motors than those in the three assembled versions.

Inertial sensor changes: In September 2020, Pololu began transitioning to shipping Pololu's Zumo 32U4 kits and robots with the v1.1 revision of the main board. The main difference is the v1.1 board replaces the Zumo 32U4’s inertial sensors with an LSM6DS33 accelerometer and gyro and an LIS3MDL magnetometer. Pololu's Zumo 32U4 Arduino library can help you write code that will work with the inertial sensors on either revision. For more information, see the user’s guide.

Details for item #3127

This an original Zumo 32U4 Robot with an LCD. Pololu recommend the newer Zumo 32U4 OLED instead, which includes a graphical OLED display; the updated version of this item is the Zumo 32U4 OLED Robot (Assembled with 100:1 HP Motors).

This version of the Zumo 32U4 robot (item #3127) ships fully assembled with a pair of 100:1 HP micro metal gearmotors (with extended motor shafts). As described above, two assembled versions are also available with lower gear ratios ( so Pololu are both faster but cannot deliver as much torque).

You can use the following table to compare these three gear ratios in more detail. The first four columns are specifications of the motors themselves, while the last column is the measured top speed of a Zumo chassis loaded to a weight of 500 g and driven with these motors. Note that the specifications are for 6V operation, which is approximately the voltage you would get with four alkaline batteries; four NiMH AA cells will typically provide less than 5V.

Batteries (not included)

The Zumo 32U4 robot runs off of four AA batteries. It works with both alkaline and NiMH batteries, though Pololu recommend using rechargeable AA NiMH cells.

Optional accessories

• Even more sensors
• Connectors (headers, jumper wires, etc) for adding those sensors or other peripherals
• Tools (soldering iron, diagonal cutters, pliers, screwdrivers, etc) to help with kit assembly
• Replacement sprockets in red or white. The Zumo 32U4 robot 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.

Zumo 32U4 robot with black sprockets.

Zumo 32U4 robot with red sprockets.

Zumo 32U4 robot with white sprockets.

Comparison with the Zumo robot kit for Arduino (with Zumo Shield)

Pololu's older Zumo robot for Arduino, built with a Zumo Shield, is another Arduino-compatible robotic platform based on the Zumo chassis. The Zumo Shield mounts to the Zumo chassis and features motor drivers and various sensors, but it does not have an integrated microcontroller; rather, it is designed to interface with boards that have a standard Arduino form factor, like an Arduino Uno, Arduino Leonardo, or A-Star 32U4 Prime, and these boards serve as the main controller for the robot.

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

By contrast, the Zumo 32U4 includes an on-board ATmega32U4 microcontroller (the same one used in the Leonardo and A-Star 32U4 boards), combining 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. The Zumo 32U4 retains all the features of the Zumo shield (e.g. dual motor drivers, inertial sensors, and buzzer) while adding many new features, including dual quadrature encoders, proximity sensors, an LCD, and two extra user pushbuttons.

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:

Thin (2mm) USB Cable A to Micro-B, 6 ft, Low/Full-Speed Only

Zumo 32U4 Robot (Assembled with 50:1 HP Motors)

Zumo 32U4 Robot (Assembled with 75:1 HP Motors)

General specifications

Identifying markings

Documentation and other information

• 

  Pololu Zumo 32U4 Robot User’s Guide (Printable PDF)

  User’s manual for the Pololu Zumo 32U4 robot.

File downloads

• Pololu A-Star 32U4 drivers for Windows (version 1.3.0.0) (7k zip)

  This download contains the Windows drivers for the A-Star 32U4 and the rest of Pololu's 32U4 family of boards.

• Pinout diagram of the Zumo 32U4 main board (546k pdf)

• Schematic diagram of the Zumo 32U4 (419k pdf)

• 3D model of the assembled Zumo 32U4 Robot (43MB step)

  This model uses simplified models of the control electronics to reduce the file size. More detailed models are available separately of the Zumo 32U4 main board v1.1 (25MB step) and Zumo 32U4 front sensor array (4MB step).

• Dimension diagram of the Zumo 32U4 Main Board v1.1 (1MB pdf)

• Drill guide for the Zumo 32U4 Main Board v1.1 (239k dxf)

  This DXF drawing shows the locations of all of the board’s holes.

• Zumo 32U4 robot 3D model (30MB pdf)

  Rotatable 3D model of an assembled Zumo 32U4 robot (Note: this file might not work properly with all pdf viewers.)

• Datasheet for the Sharp GP2S60 compact reflective photointerrupter (164k pdf)

  Datasheet for the sensor used on the QTR-3RC and QTR-3A Reflectance Sensor Arrays, the Zumo 32U4 robot front sensor array, and the Optical Encoders for micro metal gearmotors.

• Vishay TSSP77038 IR receiver module datasheet (268k pdf)

Recommended links

• Zumo 32U4 Arduino library

  The Zumo32U4 library for the Arduino IDE helps interface with the on-board hardware on the Zumo 32U4 robot.

• Zumo32U4 library documentation

• A-Star repository on GitHub

  This repository contains Arduino add-on files, Windows drivers, and bootloaders for the A-Star 328PB, A-Star 32U4, and the rest of Pololu's 32U4 family of boards.

• ATmega32U4 documentation

  Microchip’s product page for the ATmega32U4 AVR microcontroller, with links to its datasheet, application notes, and other resources.

• 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.

• Texas Instruments DRV8837/DRV8838 motor driver datasheet

• TPS2113A datasheet