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{{Short description|Open-source branch of robotics}}
{{Use dmy dates|date=April 2023}}
[[Image:
'''Open-source robotics''' is a branch of [[robotics]] where robots are developed with [[open-source hardware]] and [[free and open-source software]], publicly sharing [[blueprint]]s, [[schematics]], and [[source code]]. It is thus closely related to the [[open design]] movement, the [[Maker culture|maker movement]]<ref>{{Cite book|last=Gibb|first=Alicia|title=Building Open Source Hardware: DIY Manufacturing for Hackers and Makers|___location=New York|publisher=Addison-Wesley|pages=253–277|year=2015|isbn=978-0-321-90604-5}}</ref> and [[open science]].
==Requirements==
Open source robotics means that information about the hardware is easily discerned, so that others can easily rebuild it. In turn, this requires design to use only easily available [[standardization|standard]] subcomponents and tools, and for the build process to be documented in detail including a [[bill of materials]] and detailed ('Ikea style') step-by-step building and testing instructions. (A CAD file alone is not sufficient, as it does not show the steps for performing or testing the build). These requirements are standard to [[open source hardware]] in general, and are formalised by various licences, certifications, especially those defined by the peer-reviewed journals
Licensing requirements for software are the same as for any [[open source software]]. But in addition, for software components to be of practical use in real robot systems, they need to be compatible with other software, usually as defined by some [[robotics middleware]] community standard.
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| doi = 10.1016/j.rcim.2013.11.003
| url =https://www.sciencedirect.com/science/article/pii/S0736584513001002
}}</ref> or Thor<ref>{{cite web
| title = The Thor open-source robotic arm
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}}
</ref>
* UAV quadcopters (drones) such as
* Humanoid robots, e.g. [[iCub]], Berkeley Humanoid Lite<ref>{{cite arXiv |last1=Chi |first1=Yufeng |last2=Liao |first2=Qiayuan |last3=Long |first3=Junfeng |last4=Huang |first4=Xiaoyu |last5=Shao |first5=Sophia |last6=Nikolic |first6=Borivoje |last7=Li |first7=Zhongyu |last8=Sreenath |first8=Koushil |title=Demonstrating Berkeley Humanoid Lite: An Open-source, Accessible, and Customizable 3D-printed Humanoid Robot |year=2025 |eprint=2504.17249 |class=cs.RO }}</ref>
* [[Self-driving car]]s, e.g. OpenPodcar<ref>{{cite journal
| last1 = Camara | first1 = Fanta
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| arxiv = 2205.04454
}}</ref> (→ [[Personal rapid transit]])
* [[Laboratory robotics#Applications|Laboratory robotics]] such as chemical liquid handling <ref>{{cite journal▼
| last1 = Faina | first1 = Andres▼
| last2 = Nejati | first2 = Brian▼
| last3 = Stoy | first3 = Kasper▼
| year = 2020▼
| title = Evobot: An open-source, modular, liquid handling robot for scientific experiments.▼
| journal = [[Applied Sciences]]▼
| volume = 10▼
| issue = 3▼
| pages = 814▼
| doi = 10.3390/app10030814▼
▲| doi-access = free
}}</ref>▼
* [[Robot fish]], eg. OpenFish<ref>{{cite journal
| last1 = van den Berg | first1 = Sander
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| doi = 10.1016/j.ohx.2022.e00320
| doi-access = free
| pmid = 35694325
| pmc = 9178345
| arxiv = 2108.12285
}}</ref>
▲* [[Laboratory robotics#Applications|Laboratory robotics]] such as chemical liquid handling <ref>{{cite journal
* Vertical farming<ref> {{cite journal▼
▲| last1 = Faina | first1 = Andres
▲| last2 = Nejati | first2 = Brian
▲| last3 = Stoy | first3 = Kasper
▲| year = 2020
▲| title = Evobot: An open-source, modular, liquid handling robot for scientific experiments.
▲| journal = [[Applied Sciences]]
▲| volume = 10
▲| issue = 3
▲| pages = 814
▲| doi = 10.3390/app10030814
| doi-access = free
▲}}</ref>
| last1 = Wichitwechkarn | first1 = Vijja
| last2 = Fox | first2 = Charles
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| arxiv = 2210.04975
}}</ref>
* Swarm robots, e.g. HeRoSwarm<ref>
| last1 = Starks | first1 = Michael
| last2 = et | first2 = al
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| s2cid = 253384613
}}</ref>
* Domestic tasks: [[Robotic vacuum cleaner#Open-source designs|vacuum cleaning]]{{Broken anchor|date=2025-06-17|bot=User:Cewbot/log/20201008/configuration|target_link=Robotic vacuum cleaner#Open-source designs|reason= The anchor (Open-source designs) [[Special:Diff/1283333601|has been deleted]].|diff_id=1283333601}}, [[Scooba (brand)|floor washing]]<ref>{{cite web|url=https://github.com/saiyam-agrawal/Floor-Cleaning-Robot-v2?tab=readme-ov-file|title=Floor cleaning robot|website=[[GitHub]] |access-date=13 September 2024}}</ref> and grass mowing<ref>{{cite web|url=https://github.com/ClemensElflein/OpenMower|title=Open Mower|website=[[GitHub]] |access-date=13 September 2024}}</ref>
* Robot sports including [[
* Education<ref>{{cite book |last1=Vrochidou |first1=Eleni |last2=Manios |first2=Michail |last3=Papakostas |first3=George A. |last4=Aitsidis |first4=Charalabos N. |last5=Panagiotopoulos |first5=Fotis |title=2018 26th International Conference on Software, Telecommunications and Computer Networks (SoftCOM) |chapter=Open-Source Robotics: Investigation on Existing Platforms and Their Application in Education |date=September 2018 |pages=1–6 |doi=10.23919/SOFTCOM.2018.8555860|isbn=978-9-5329-0087-3 |s2cid=54438146 }}</ref>
* 3D [[photogrammetry]]<ref>{{cite book |last1=Jensen |first1=Austin M. |last2=Morgan |first2=Daniel |last3=Chen |first3=YangQuan |last4=Clemens |first4=Shannon |last5=Hardy |first5=Thomas |title=Volume 3: ASME/IEEE 2009 International Conference on Mechatronic and Embedded Systems and Applications; 20th Reliability, Stress Analysis, and Failure Prevention Conference |chapter=Using Multiple Open-Source Low-Cost Unmanned Aerial Vehicles (UAV) for 3D Photogrammetry and Distributed Wind Measurement |date=1 January 2009 |pages=629–634 |doi=10.1115/DETC2009-87586|isbn=978-0-7918-4900-2 }}</ref>{{additional citation needed|date=August 2022}}▼
==Hardware subcomponents==
{{See also|List of open-source hardware projects#Robotics|l1=List of open-source robotics hardware}}
Most [[open source hardware]] definitions allow non-open subcomponents to be used in [[modular design]], as long as they are easily available. However many designs try to push openness down into as many subcomponents as possible, with the aim of ultimately reaching fully open designs.
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Open subcomponents can include [[open-source computing hardware]] as subcomponents, such as [[Arduino]] and [[RISC-V]], as well as open source motors and drivers such as the Open Source Motor Controller and [[ODrive]].
Open hardware robotics interface boards<ref>{{cite journal
| last1 = Waltham | first1 = Chris
| last2 = Soni | first2 = Rakshit
| last3 = Perrett | first3 = Andy
| last4 = Fox | first4 = Charles
| year = 2025
| title = R4: rapid reproducible robotics research open hardware control system
| journal = Journal of Open Hardware
| volume = 9
| issue = 1
| arxiv = 2402.09833
}}</ref> can simplify interfacing between middleware software and physical hardware.
== Software subcomponents ==
{{See also|List of free and open-source software packages#Robotics|l1=List of open-source robotics software}}
=== Middleware ===
[[Robotics middleware]] is software which links multiple other software components together. In robotics, this specifically means real-time communication systems with standardized message passing protocols. The predominant open source middleware is [[Robot Operating System|
=== Driver software ===
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=== Simulation software ===
Open source robotics simulators include [[Gazebo simulator|Gazebo]], [[MuJoCo]] and [[Webots]]. Open source 3D game engines such as [[Godot (game engine)|Godot]] are also sometimes used as simulators, when equipped with suitable middleware interfaces.<ref>{{
=== Automation software ===
At the level of [[AI]], many standard algorithms have open source software implementations, mostly in [[Robot Operating System|
* [[Machine vision]] systems such as the [[
▲* 3D [[photogrammetry]]<ref>{{cite book |last1=Jensen |first1=Austin M. |last2=Morgan |first2=Daniel |last3=Chen |first3=YangQuan |last4=Clemens |first4=Shannon |last5=Hardy |first5=Thomas |title=Volume 3: ASME/IEEE 2009 International Conference on Mechatronic and Embedded Systems and Applications; 20th Reliability, Stress Analysis, and Failure Prevention Conference |chapter=Using Multiple Open-Source Low-Cost Unmanned Aerial Vehicles (UAV) for 3D Photogrammetry and Distributed Wind Measurement |date=1 January 2009 |pages=629–634 |doi=10.1115/DETC2009-87586|isbn=978-0-7918-4900-2 }}</ref>
* Navigation including [[Simultaneous localization and mapping|SLAM]] and planning such as nav2<ref>{{cite web
* Arm inverse kinematics such as [[moveIt]] ▼
| title = nav2
▲* [[Machine vision]] systems such as the [[YOLO (algorithm)|YOLO]] object detector.
| url = https://docs.nav2.org//
| access-date = 2024-10-20
}}</ref>
| title = MoveIt 2
| url = https://moveit.picknik.ai/humble/index.html
| access-date = 2024-10-20
}}</ref>
==Community==
The first signs of the increasing popularity of building
The community has adopted [[open source hardware]] licenses, certifications, and peer-reviewed publications, which check that source has been made correctly and permanently available under community definitions, and which validate that this has been done. These processes have become critically important due to many historical projects claiming to be open source but them reverting on the promise due to commercialisation or other pressures.
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| access-date = 2024-10-20
}}</ref> conference to discuss development of ROS itself and automation components built on it.
==References==
{{Reflist}}
{{Robotics}}
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