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Most commercially-available robots are either aimed at the research community, or are designed with a single purpose in mind. The extensive hobbyist community has tended to focus on the hardware and the low-level software aspects. The authors claim that there is a need for a low-cost, general-purpose robot, accessible to the hobbyist community, with sufficient computation and sensing to run "Research-grade" software. In this paper, they describe the design and implementation of such a robot. They explicitly outline their design goals, and show how a capable robot can be assembled from off-the-shelf parts, for a modest cost, by a single person with only a few tools.
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