FROB is a project aimed at developing a family of modular robots aiming at the inclusion of kids with disabilities in playing activities. We have developed four robots of two different types: FROBone e FROBino. FROBone is about 45 cm high and has sonar sensors to detect distances. FROBino si 20 cm wide, has TOF sensors to detect distances and can also safely work on a table. Both show holes where modules can be inserted. These modules can be either passive, to add aesthetical elements that can be used in play, or active to add functionalities. The active modules are connected with the basis by CAN bus and can exchange data with the base and the other modules. Moreover, bases and modules include an ESP32 microprocessor that enables them to communicate with other modules.
The robots are used during play time in small groups. Four different types of play have been considered, according to the EU COST LUDI network classification: practice play, pretend play, construction play and rule play.