A mobile, autonomous, differential drive robot built from low cost readily available parts able to handle 10-20 kg loads.

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This robot is meant to facilitate the construction of very low cost robotics using readily available components. Power Wheel gear drives (with a modification to enable quadrature encoded motion measurement. Instructions here:, electric scooter wheels (for the ability to traverse minor obstacles such as door jambs and uneven sidewalks), and an xbox 360 3D camera. The power is provided by an AGM lawn tractor battery. Computing power comes from a Dell Inspiron laptop (Pentium(R) Dual-Core CPU T4200 @ 2.00GHz × 2). It runs ROS (robot operating system) a sophisticated open source robotics environment. Custom parts are 3D printable, all models are available on Thingiverse at

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