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My latest design in mobile robotics.



ERWHI is an open source small SLAM robot.  It integrates some human interaction features and machine learning capabilities.

Actually there are 4 version.

The first one is a really simple robot.

Starting from version 2, often called ERWHI, robots are designed to be highly integrated with ROS.
Depth vision system is also included.
Robots are fully autonomous.

ERWHI generation timeline

ERWHI (mk1) (q1 2017)

- Arietta G25
- Microsoft HD3000
- STM Nucleo-F401RE

ERWHI (mk2) (q2-4 2017)

- Odroid XU4
- Intel Realsense R200
- uNav motor controller

ERWHIxUP (mk2.1) (q1 2018)

- UP squared Pentium
- Intel Realsense ZR300
- uNav motor controller

ERWHI Hedgehog (mk3)
(q2 2018-now)

- UP squared Pentium
- Intel Realsense Depth D435
- Ai Core (Movidius Myriad 2)
- Sengi motor controller

Project Collaborators


AAEON is company which design powerfull SBCs in a pocket format like famous UP Board.

Intel RealSense

IntelĀ® RealSenseā„¢ technology is shaping the future by giving devices and machines the ability to perceive their surroundings.

Neapolis Innovation

Neapolis Innovation is an association founded by some factories, e.g. STMicroelectronics, and Universities in Campania (Italy).


KATODO is a friendly eCommerce website.  You can find every stuffs you need to build your own robot.


Geduino Foundation (aka Gesuino)

Geduino is a project by Alessandro Francescon.
Alessandro donated a broken lidar to be mounted and tested on ERWHI.


The team in the PRISMA Lab (Projects of Robotics for Industry and Services, Mechatronics and Automation) operates in the Department of Electrical Engineering and Information Technology of University of Naples Federico II and Consortium CREATE, where since 30 years is committed to research in robotics and automation.

Officine Robotiche

Officine Robotiche is a no-profit association based in Rome about robotic buildings and competitions.

Guido Ottaviani

He deals with electronic design and embedded system firmware for Robotics and industrial and civil applications, as well as technical disclosure on the internet.