R2P: An open source hardware and software modular approach to robot prototyping

Rapid prototyping is a key aspect for the development of innovative robotic applications. A modular, platform-based, approach is the way to obtain this result. Modular approaches are common for software development, but hardware is still crafted often re-inventing solutions every time. As a consequence, the resources that should be invested in the development of a new robot get often drained by the implementation of a physical, working prototype to test the application idea. To overcome this problem, we propose R2P (Rapid Robot Prototyping), a framework to implement real-time, high-quality architectures for robotic systems with off-the-shelf basic modules (e.g., sensors, actuators, and controllers), integrating hardware and software, which can be assembled in a plug-and-play way. R2P provides hardware modules, a protocol for real-time communication, a middleware to connect components as well as tools to support the development of software on the modules. R2P aims at dramatically reduce time and efforts required to build a prototype robot, making it possible to focus the resources on the development of new robotic applications instead of struggling on their implementation. This enables also people with experience in a specific application domain, but with little technical background, to actively participate in the development of new robotic applications. R2P is open-source both in its software and hardware to promote its diffusion among the robotics community and novel business models that will substantially reduce the costs to design a new robotic product.