WELCOME TO THE WORLD OF

SUMOBOT

A sumo robot is a small, autonomous robot that competes in sumo-style matches. The
goal of the competition is simple: push your opponent out of the circular ring, known as the
dohyō. To achieve this, sumo robots are equipped with various sensors, motors, and often
some form of artificial intelligence to make split-second decisions during a match.
 There are different classes of sumo robots, often
based on their size and weight. The most common are mini
sumo robots, which must fit within a 10cm x 10cm footprint
and weigh no more than 500 grams. Larger classes exist, but
mini sumo is particularly popular because it offers a great
balance between challenge and accessibility.
How Do Sumo Robots Work?
Sumo robots operate autonomously, meaning once the match
starts, there’s no human intervention. To make them competitive, builders
must focus on a few key areas:

1. Dimensions: max didth 20 cm, max length 20

cm, height not specified.
2. Shape: the robot shape can be changeable after
starting the race, but without the inseparable parts
to maintain being one central Object. Chassis Design: The robot’s structure
needs to be sturdy and balanced,
3. Weight: does not exceed 3 kg. allowing it to stay within the ring while
exerting enough force to push the
4. Robot must be self-controlling. opponent out.
 Typical parts & electronics (what to buy/use)
1- Arduino NANO
It is a main board that control all the parts and link it together.

2- DC Motor
Which help robot to maneuver and move within the ring of COMPETING.

3- L298N Dual H Bridge for Arduino

It is a small panel that provides constant voltage to the
motors, as well as the support of the Arduino plate with
good control of movement and voltage.

4- Ultrasonic sensor
The ultrasonic sensor is used to locate the
opponent's robot and is usually placed at the top of
the robot.
Typical parts & electronics (what to buy/use)
5- IR TCRT5000
As we have already mentioned, the contest ring designed in a
certain size and it have two colors, filling is black and frame is
white. The contestant should not go out. Therefore, we use the IR
sensor to make sure that the robot will not be out of the ring. This
sensor has the ability to distinguish between the colors of the
ring).
6- Battery 9v
It support the main board (Arduino) with the important
voltage.
7- AA battery 4 * 1.5 v pieces + Battery house
It support the two motors (DC Motor) with the important
voltage and it must be separated to give the full force for
the wheels.
8- Jumper wires
Connection between pins.
 Low center of gravity — put heavy parts
(battery) low to maximize traction and
stability

Maximize traction — rubber wheels, Short, rigid frame — avoid flexing; you
wide contact patch, and weight want force transmitted to wheels, not
distribution matter more than pure motor bent chassis.
power.

Design & build tips

Test stall current & motor driver — pick a Modular design — make it easy to swap
motor driver with margin; stalling during a wheels, motors, sensors during tuning or
push draws big current. between matches.

Protect sensors — place edge sensors so

they reliably see the white line; protect
proximity sensors from being blocked or
fooled by reflectivity.
 Typical software / behavior (simple state machine)

Common states:
1. Search — rotate in place or sweep forward while
scanning for opponent.
2. Approach/Track — once opponent detected,
head toward them and centre the robot.
3. Attack (Push) — full speed forward, maintain
Most sumo programs use a small state
contact and try to push out. machine. Simple, reliable behaviors win.
4. Recover/Escape — if edge detected (white line)
back up and turn away.
5. Circle / Edge fight tactics — if opponent hugs
the edge, use short pushes and retreat to avoid
falling.
Arduino Nano Pin Connection Guide for a Basic Sumobot
2. Motor Driver (example: L298N or L293D)
Assume two DC motors (Left & Right).

This lets you use PWM on D5 and D9

to control motor speed, while D6–7 and
D10–11 set motor direction.
Arduino Nano Pin Connection Guide for a Basic Sumobot
2. Motor Driver (example: L298N or L293D)
Assume two DC motors (Left & Right).
Arduino Nano Pin Connection Guide for a Basic Sumobot
1. Power
•Nano VIN (or RAW): Connect to battery pack + (7–12 V if using L298N with onboard
regulator).
•Nano GND: Common ground with motor driver, sensors, and battery negative.
•5V Pin: Provides regulated 5V output from Nano (can power sensors, but not motors).

Important:
•Motors must never be powered
directly from Nano. They draw too
much current.
•Always share ground between Nano,
motor driver, and sensors.
Arduino Nano Pin Connection Guide for a Basic Sumobot
2. Motor Driver (example: L298N or L293D)
Assume two DC motors (Left & Right).
Function L298N Pins Arduino Nano Pins (example)
Left Motor Enable (ENA) ENA D5 (PWM)
Left Motor IN1 IN1 D6
Left Motor IN2 IN2 D7
Right Motor Enable (ENB) ENB D9 (PWM)
Right Motor IN3 IN3 D10
Right Motor IN4 IN4 D11
Motor Power (Vcc) + Battery (7–12V) —
GND Battery – Nano GND

This lets you use PWM on D5 and D9 to control motor speed, while D6–7 and D10–11 set
motor direction.
Arduino Nano Pin Connection Guide for a Basic Sumobot
3. Line Sensors (IR Reflectance, e.g. TCRT5000 or QTR)
Assume 2 sensors (left & right) placed near the front.

Sensor Output Pin → Arduino

Left A0
Right A1

VCC → Nano 5V
GND → Nano GND

These sensors read analog values (dark = low reflectance,

white edge = high reflectance).
Arduino Nano Pin Connection Guide for a Basic Sumobot
4. Ultrasonic Sensor (HC-SR04 for opponent detection)

Sensor Pin Arduino Pin

VCC 5V
GND GND
TRIG D2
ECHO D3

Use D2/D3 because they’re interrupt-

capable, which makes timing more accurate.
Optional (for upgrades)

Buzzer (status/debugging): D4 → Piezo buzzer

Start Button: D8 → pushbutton with pull-down resistor
 Double-Check / Error Prevention
Motor driver must have common GND with Nano.
PWM pins chosen correctly: D5, D9 are PWM capable.
Direction pins (D6,7,10,11) are all digital output capable.
Line sensors on A0, A1 are valid analog inputs.
HC-SR04 TRIG/ECHO on D2, D3 is correct (interrupt-friendly).
Power wiring:
•Nano powered from USB during programming, or from battery VIN during match.
•Sensors on 5V, safe.
•Motors on motor driver’s supply, not Nano.

Everything checks out No miswired pins or invalid choices.