Abstract
Laser scanners are widely used in mobile robotics localization systems but, despite the enormous potential of its use, their high price tag is a major drawback, mainly for hobbyist and educational robotics practitioners that usually have a reduced budget. The Neato XV-11 Laser Scanner is a very low cost alternative, when compared with the current available laser scanners, being this fact the main motivation for its use. The modeling of a hacked Neato XV-11 Laser Scanner allows to provide valuable information that can promote the development of better designs of robot localization systems based on this sensor. This paper presents, as an example, the performance enhancement of a Neato XV-11 Laser Scanner applied to mobile robot self-localization, being used as case study the Perfect Match Algorithm applied to the Robot@Factory competition. © The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG 2021.

Abstract
Throughout this paper it is presented a novel elastic joint configuration, being compared with other similar joints found in recent literature. It is presented its modeling, being its estimation process developed offline, based on a proposed experimental setup. This setup enables to monitor and collect data from an absolute encoder and a load cell. Some data obtained from these sensors is then graphically represented, like angle and torque, obtaining some parameters. Finally, through an optimization process, where the error of the angle is minimized, the remaining parameters of the joint are estimated, thus obtaining a realistic model of the system. © The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG 2021.

Abstract
This article presents an innovative legged-wheeled system, designed to be applied in a hybrid robotic vehicle's locomotion system, as its driving member. The proposed system will be capable to combine the advantages of legged and wheeled locomotion systems, having 3DOF connected through a combination of both rigid and non-rigid joints. This configuration provides the vehicle the ability to absorb impacts and selected external disturbances. A state space approach was adopted to control the joints, increasing the system's stability and adaptability. Throughout this article, the entire design process of this robotic system will be presented, as well as its modeling and control. The proposed system's design is biologically inspired, having as reference the human leg, resulting in the development of a prototype. The results of the testing process with the proposed prototype are also presented. This system was designed to be modular, low-cost, and to increase the autonomy of typical autonomous legged-wheeled locomotion systems.

Abstract
In this paper, the modeling of a system based on a DC Motor with Worm Gearbox is presented. Worm gearboxes are typically applied when its compactness is an important factor, as well as an orthogonal redirectioning is required. One of the greatest advantages of worm gears is its unique self-locking characteristic. This means that the gear can only rotate by its input side, and cannot be actuated through the load side. Using a DC motor with a worm gearbox is a solution that guarantees that, for instance, in a robotic manipulator, when the arm’s joint reaches a desired angle, it does not move until a next required setpoint. Modeling accurately this system is crucial in order to develop its control in a more efficient way. © The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG 2021.

Abstract
There is an increasing demand for robotic manipulators to perform more complex and versatile tasks. In order to fulfill this need, expeditious calibration and estimation techniques are required as a first step for the correct usage of the manipulator. This article aims at finding a subset of these algorithms that could be used in a generic manipulator and should allow for its prompt use. Two models for the representation of the pose of the manipulator are described and used in the state estimation problem. The results of the implementation are tested, and some performance metrics are obtained.

Abstract
The micromouse competition has been gaining prominence in the robotic atmosphere, due to the challenging and multidisciplinary characteristics provided by the teams' duels, being a gateway for those who intend to deepen their studies in autonomous robotics. In this context, this paper presents a realistic micromouse simulator developed with Unity software, a widely game engine with dynamics and 3D development platform used. The developed simulator has hardware-in-the-loop capabilities, aims to be simple to use, it can be customizable, and designed to be as similar as possible to the real robot configurations. In this way, the proposed simulator requires few modifications to port the microcontroller code to a real robot. Therefore, the framework presented in this work allows the user to simulate the development of new algorithm strategies dedicated to competition and also hardware updates. The simulation supports several mazes, from previous competitions and has the possibility to add different mazes elaborated by the user. Thus, the features and functionality of the simulator can serve to accelerate the project's development of the beginning and advanced competitors, using real models to reduce the gap between the mouse robot behavior in the simulation and the reality. The developed simulation environment is available to the community.