Fast robot prototyping with the cubesystem

The CubeSystem is a collection of hardware- and software-components for fast robot prototyping. The main goal of the Cubesystem project is to provide an open source collection of generic building blocks that can be freely combined into an application. This paper describes the first release of the CubeSystem, that evolved in more than five years of research and development. The benefits of the CubeSystem are illustrated by several applications, ranging from educational activities to industrial projects.