This is a merged information page for Item #3124.
View normal product page.
Pololu item #:
Status: Active and Preferred
The Pololu Zumo 32U4 robot is a versatile tracked robot based on the Arduino-compatible ATmega32U4 MCU, and this kit contains most of the parts you need to build one—all you need to add are a pair of micro metal gearmotors and four AA batteries. It includes integrated dual motor drivers, an LCD, quadrature encoders, line sensors, side and front proximity sensors, and a full IMU. The assembled robot is less than 10 cm × 10 cm—small enough to qualify for Mini Sumo. This product is a kit; assembly (including soldering) is required.
Alternatives available with variations in these parameter(s): version
Contents of the #3124 Zumo 32U4 robot kit.
Assembled Zumo 32U4 robot.
Main features of the Zumo 32U4 robot.
Assembled Zumo 32U4 robot, top view.
Assembled Zumo 32U4 robot, bottom view.
Assembled Zumo 32U4 robot, side view.
Assembled Zumo 32U4 robot, back view.
Zumo 32U4 robot main board v1.1.
Zumo 32U4 robot main board v1.1, top view.
Zumo 32U4 robot main board v1.1, bottom view.
Zumo 32U4 robot front sensor array.
Zumo 32U4 robot front sensor array, bottom view.
Zumo 32U4 robot front sensor array, top view.
Zumo 32U4 robot blade.
New inertial sensors! As of 12 September 2020, we are transitioning to shipping our Zumo 32U4 kits and robots with the v1.1 version of the main board. The main difference is the new version replaces the Zumo 32U4’s inertial sensors with an LSM6DS33 accelerometer and gyro and an LIS3MDL magnetometer, as the LSM303D accelerometer and magnetometer used on the original revision has been discontinued. You can use our updated Zumo 32U4 Arduino library to help you write code that will work with the inertial sensors on either revision. For more information, see the user’s guide.
Please note that you might receive either version during this transition period. If you require a specific version, please contact us before you place your order.
The Zumo 32U4 is a highly integrated, user-programmable and customizable tracked robot. It measures less than 10 cm on each side and weighs approximately 275 g with batteries (170 g without), so it is both small enough and light enough to qualify for Mini-Sumo competitions, but its versatility makes it capable of much more than just robot sumo battles.
At the heart of the Zumo 32U4 is an ATmega32U4 AVR microcontroller from Microchip (formerly Atmel), and like our A-Star 32U4 programmable controllers, the Zumo 32U4 features a USB interface and ships preloaded with an Arduino-compatible bootloader. A software add-on is available that makes it easy to program the robot from the Arduino environment, and we have Arduino libraries and example sketches to help get you started. A USB A to Micro-B cable (not included) is required for programming. For advanced users who want to customize or enhance their robots with additional peripherals, the robot’s power rails and microcontroller’s I/O lines can be accessed via 0.1″-spaced through-holes along the sides and front of the main board.
The Zumo 32U4 features two H-bridge motor drivers and a variety of integrated sensors, including a pair of quadrature encoders for closed-loop motor control, a complete inertial measurement unit (3-axis accelerometer, gyro, and magnetometer), five downward-facing reflectance sensors for line-following or edge-detection, and front- and side-facing proximity sensors for obstacle detection and ranging. Three on-board pushbuttons offer a convenient interface for user input, and an LCD, buzzer, and indicator LEDs allow the robot to provide feedback.
The Zumo 32U4 robot is available fully assembled with three different motor options (see the Motors section below for more information on how these different gear ratios perform):
The Zumo 32U4 robot is also available as a kit (without motors) for those who would prefer to assemble it themselves or who want to use different motors than those in the three assembled versions.
This version of the Zumo 32U4 robot (item #3124) is a kit; assembly (including soldering) is required. Motors and batteries are sold separately. A USB A to Micro-B cable (not included) is required for programming.
Contents of the #3124 Zumo 32U4 robot kit.
With the exception of motors, batteries, and a USB A to Micro-B cable, this kit contains everything necessary to build and operate a Zumo 32U4 robot:
Assembled Zumo 32U4 robot.
See the Zumo 32U4 robot user’s guide for detailed assembly instructions.
Micro metal gearmotor with extended motor shaft.
The Zumo chassis uses two micro metal gearmotors, one for each tread. The ideal motors for your robot depend on your desired torque, speed, and current draw, so with the kit version of the chassis (motors are included with the assembled versions of the Zumo 32U4 robot). We generally recommend using high-power (HP or HPCB, which have long-life carbon brushes) versions of our micro metal gearmotors since the tracks require a decent amount of torque to move effectively; higher gear ratios of the non-HP motors might work if you want lower current draw, but they will be slower and offer less control. Specifically, we primarily recommend the 50:1, 75:1, or 100:1 HP (or HPCB) motors for use with this chassis, and these are the versions we include in our assembled Zumo 32U4 robot. Additionally, be sure to get a version with extended motor shafts if you want to be able to use the Zumo 32U4’s encoders.
You can use the following table to compare these three gear ratios in more detail. The first four columns are specifications of the motors themselves, while the last column is the measured top speed of a Zumo chassis loaded to a weight of 500 g and driven with these motors. Note that the specifications are for 6V operation, which is approximately the voltage you would get with four alkaline batteries; four NiMH AA cells will typically provide less than 5V.
|Top Zumo Speed
@ 6V and 500g
|50:1 HP or 50:1 HPCB||625 RPM||15 oz·in||1600 mA||40 in/s||(100 cm/s)|
|75:1 HP or 75:1 HPCB||400 RPM||22 oz·in||1600 mA||25 in/s||(65 cm/s)|
|100:1 HP or 100:1 HPCB||320 RPM||30 oz·in||1600 mA||20 in/s||(50 cm/s)|
The Zumo 32U4 robot runs off of four AA batteries. It works with both alkaline and NiMH batteries, though we recommend using rechargeable AA NiMH cells.
Our older Zumo robot for Arduino, built with a Zumo Shield, is another Arduino-compatible robotic platform based on the Zumo chassis. The Zumo Shield mounts to the Zumo chassis and features motor drivers and various sensors, but it does not have an integrated microcontroller; rather, it is designed to interface with boards that have a standard Arduino form factor, like an Arduino Uno, Arduino Leonardo, or A-Star 32U4 Prime, and these boards serve as the main controller for the robot.
A Zumo 32U4 robot (left) and a Zumo robot for Arduino with an A-Star 32U4 Prime LV (right).
By contrast, the Zumo 32U4 includes an on-board ATmega32U4 microcontroller (the same one used in the Leonardo and A-Star 32U4 boards), combining the functions of the Zumo Shield and the separate Arduino controller into a single, compact board that is just as easy to program as a standard Arduino or A-Star thanks to its USB interface and preloaded Arduino-compatible bootloader. The Zumo 32U4 retains all the features of the Zumo shield (e.g. dual motor drivers, inertial sensors, and buzzer) while adding many new features, including dual quadrature encoders, proximity sensors, an LCD, and two extra user pushbuttons.
Some of the pin mappings and software libraries differ between the Zumo 32U4 and Zumo robot for Arduino, so programs written for one robot generally need to be modified to work on the other.
|Version:||kit — assembly required, motors not included|
This download contains the Windows drivers for the A-Star 32U4 and the rest of our 32U4 family of boards.
This model uses simplified models of the control electronics to reduce the file size. More detailed models are available separately of the Zumo 32U4 main board v1.1 (25MB step) and Zumo 32U4 front sensor array (4MB step).
This DXF drawing shows the locations of all of the board’s holes.
Rotatable 3D model of an assembled Zumo 32U4 robot (Note: this file might not work properly with all pdf viewers.)
We have noticed that the accelerometer in the LSM303D is particularly sensitive to brown-out conditions. If power is removed and the voltage on the 3.3 V power supply line falls significantly, but is not allowed to drop completely to 0 V, the accelerometer can be put into a bad state. When power is reapplied to the LSM303D, the accelerometer then returns readings on some or all axes that are large values and do not change much or at all. (We have often seen readings like -32760 and 24539.)
To prevent this problem from occurring, the voltage on the 3.3 V line must be allowed to fall to about 0 V when power is removed from the LSM303D. Depending on other loads and the amount of capacitance on the 3.3 V line, it can take up to several seconds for this to happen, meaning that you should avoid interrupting power to the LSM303D for any shorter period, and if such a short interruption does occur, you should remove power again for a longer period to allow the accelerometer to reset properly.
If the voltage takes too long to fall, you can add a resistor between 3.3 V and ground (a “bleeder resistor”) to discharge the 3.3 V line more quickly when power is removed. We suggest trying a resistor in the 1 kΩ to 10 kΩ range. (Note that a stronger bleeder resistor will cause the voltage to fall more quickly when power is removed, but it will also waste more power when the supply is present.)
The Zumo 32U4 includes a bleeder resistor on the 3.3 V line.
Mount Holyoke College professor Peter Klemperer designed a custom add-on for the Zumo 32U4 to give easier access to the user pushbuttons. Peter made...
We were excited to hear from the NCA Lights high school student robotics team about their recent entry in the RoboFest Michigan Championship 2017...
My robot from the last LVBots mini-sumo competition has a feature which I think is pretty interesting and sets it apart from a lot of other robots:...
LVBots held a mini-sumo competition at Pololu on August 20. The goal of mini-sumo is to make an autonomous robot that pushes the other robot out...
Customers have been requesting an assembled version of our Zumo 32U4 robot kit ever since we released it in March, so it makes me very happy to be...
I recently competed in the LVbots line following robot challenge, where I took third place with the fourth fastest robot (due to lucky placement in...
A customer of ours who is a software engineer in Seattle made this detailed video showing how to assemble the new Zumo 32U4 robot kit. Thanks for...
We have a new video showing several projects you can do with a stock Zumo 32U4 robot. The Zumo 32U4’s motors, encoders, line sensors, proximity...
I am excited to announce the release of our new Zumo 32U4 Robot Kit, a complete Arduino-compatible robot kit based on the ATmega32U4. We have, in...
We received order 1J200000 this morning from Ralf in Germany! However, it turns out that because of a one-time database screwup, this was not...