IEEE Robotics & Automation Magazine - March 2017 - 81
(a)
(b)
(c)
(d)
(e)
(f)
(g)
(h)
(i)
Figure 2. Examples of extensions of the Thymio basic robot (a)-(d) with paper or cardboard body extensions, (e) and (f) using LEGO
structural extensions, (g) and (h) using 3-D printed extensions (courtesy of Ezio Somà ), and (i) using a printed environment (courtesy
of Thool project).
Programming Environments
Thymio runs the Aseba open-source programming environment [18]. Aseba is designed to enable novices to program
robots easily. On the robot side, it provides a lightweight virtual
machine that runs on microcontrollers such as the PIC24F inside
Thymio. A virtual machine allows instantaneous upload and safe
execution of programs. On the desktop side, Aseba provides an
integrated development environment (IDE) featuring a visual
programming language (VPL) (Figure 3); a scripting language
(Figure 4); and a mixed language, Blockly (https://developers
.google.com/blockly/), to assemble scripts graphically (Figure 5). These different languages cover the abilities of children
of different ages and the progression of skills of learners.
The IDE supports real-time feedback on the status of program execution, as this feature was recognized as of critical
importance to properly learn programming [19]. This capability is provided both with the VPL [20] and in the scripting
environment by displaying the content of variables in real
time through texts or plots.
Aseba integrates with the Robot Operating System (ROS)
[21] through the asebaros (http://www.ros.org/wiki/asebaros)
Figure 3. The VPL.
bridge. The ROS is one of the most widely used software
frameworks in robotics research, and this integration allows
running sophisticated algorithms, such as simultaneous localization and mapping, in conjunction with Thymio. This makes
the robot suitable for university-level education.
March 2017
*
IEEE ROBOTICS & AUTOMATION MAGAZINE
*
81
https://developers
http://www.google.com/blockly/
http://www.ros.org/wiki/asebaros
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