Autonomous minisumo robot, based around an STM32 microcontroller and VL53L0X TOF (time of flight) distance sensors, which provide necessary processing power and great detection range of opponents.

Its distinguishing feature is a set of deployable wings, designed to attract an opponent toward them, making them vulnerable to falling off the dohyo.

This project features two custom-designed PCBs that are connected via a flexible flat cable (FFC):

• Main board: responsible for the robot's core functionalities. It integrates the microcontroller, sensors, motor drivers, and power management circuitry

• Top board: accommodates an on/off switch, an SWD programming connector, configuration DIP switches, and a dedicated space for a standard starter module

The robot also features a 128x64px OLED screen for debugging.

The chassis is a robust blend of 3D-printed components, steel, and aluminum, designed for durability and a low center of gravity. For superior traction on the dohyo, the robot is equipped with custom cast rubber tires. The unique deployable wings, made from lightweight paper, serve as the active deflection mechanism.

The robot is powered by two N20 motors.

• Dominik Pluta:
  • Responsibility: PCB design, programming
• Kamil Winnicki:
  • Responsibility: design and manufacturing of mechanical parts

Special thanks to Eryk Możdzeń, who helped with programming.