CoSpace Robotics

The idea of incorporating the CoSpace concept into educational robotics was initiated by the Advanced Robotics and Intelligent Control Centre (ARICC), Singapore Polytechnic to integrate 3D digital simulation and game-based learning together with robotics for education.

The CoSpace Robotic System (CsBot), developed by ARICC, is the product of this approach. Like many robotic simulators and 3D gaming platforms, it can be used to create 3D virtual environment and objects to model, program and test mobile robots. The main feature is that this system enables users to define the physical model for the 3D objects and has the capacity to communicate and exchange data with the physical world. Students can experiment with the physical structure, sensors, motors, and programm a robot in the virtual environment and implement their strategies for solving problems

RealWorld VirtualWorld PhysicalModel
Real World Physical World Physical Model

The CoSpace Robotic System is composed of the CsBot simulator, CsBot controller, and CsBot robot.


CsBot Simulator

The CsBot Simulator is implemented using Microsoft Robotics Developer Studio®. It offers an avenue for users to experiment with the physical structure, sensors, motors, and programm a robot. The CsBot Simulator allows users to

  • Setup a virtual environment;
  • Create 3D objects and integrate them with the CsBot media library;
  • Assemble, program, and test real/virtual robots;
  • Monitor real-time sensory feedback and perform real-time control of both real and virtual robots;
  • Establish real-time communication/interaction between the real/virtual robots;

CsBot 3D Virtual Environment

The CsBot 3D virtual environment consists of a variety of 3D objects with physical models. They are stored in the CsBot media library. Students can create 3D objects and integrate them with the CsBot media library.

3D Virtual Environment 3DVirtual
Virtual Entities Entity
Entity Library Library


The AI development panel provides various programming interfaces for users with various programming skills.

The programs created with the CsBot simulator and tested with the virtual robot can be downloaded onto a real robot and tested in the real environment.

Graphical Interface Graphic
Logic Design Logic
C Code Ccode


The real-time communication/interaction between the real robots and virtual robots/worlds can be established through ZigBee wireless communication. The real-time communication also enables both real and virtual robots work in CoSpace.


Drama Editor

The Performance/Drama Editor allows students to set up the sequence, communication and synchronization among real/virtual robots, real/virtual scenes, projection system, and music. Together with the flexible virtual camera, this platform provides a stage to put students' imagination into action and make their dream a reality.


CoSpace Controller

The CsBot controller allows the robot to communicate with the CsBot simulator, and then interact with the virtual/real robot. Through ZigBee wireless communication, both real and virtual robots can share information and work together in Co-existent Space.

 With the CoSpace controller, teams can develop their own CoSpace robot for CoSpace Dance.

CsBot Simulator, CsBot Controller and various real robots


CsBot Robot is a real robot that is equipped with CsBot Controller, ultrasonic sensors, colour sensors, compass sensor, and the ZigBee communication module. The robot is able to perform tasks like avoiding obstacles, detecting colour objects, navigating, and communicating with the virtual space. The CsBot Robot is the standard platform for RoboCupJunior CoSpace Rescue Challenge.


About CoSpace

CoSpace combines a real, physical space with a 3D virtual-reality space on a computer, which allows a person to experience or interact with a virtual reality that is modeled on real-life space.

In CoSpace environment, the physical space and the virtual space share information and interact simultaneously in real-time. The virtual world entities can capture the real world information using sensors. Correspondingly, certain actions and events within the virtual domain can affect the physical world. Therefore, the physical space is enhanced with the virtual information and the virtual space is continuously refreshed with real-time, real-world information. This unique feature differentiates the CoSpace concept from 3D simulation.