Roomba - vacuuming robots

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Roomba is a low-cost robot produced by iRobot. It is intended to be a commercial cleaning robot, however with little to no modification it can become a powerful educational/hobbyist robotics platform.

Roomba 560

Sensors & Actuators

The Roomba comes with these basic sensors:

  1. Four IR based cliff sensors
  2. Two bump sensors
  3. One wall sensor
  4. A top mounted IR sensor. Used by Virtual Walls, Docking Station, and Remote Control
  5. One Dirt Detector (acoustic impact). Some Roombas have two.

The Roomba is sold commercially as a mobile vacuum cleaner, thus it also has these actuators:

  1. Two driving wheels
  2. One main brush motor
  3. A side brush motor
  4. A Vacuum motor.

Communication protocol

The Roomba proprietary Serial Command Interface is available here: Roomba SCI.

Hacking the Roomba

Make your own Roomba-serial, Roomba-USB or Roomba-bluetooth dongle.

See also

Disassembling a Roomba 560

External links

Roomba Hacking Forum