Today's education must offer multiple opportunities to address the individual needs of all students. In this context, educational innovation plays an important role in guiding the processes of creating strategies to achieve more inclusive learning and teaching. Many studies have analyzed the affordances of augmented reality, gamification, and the adoption of Universal Design for Learning as separate strategies to improve education. In turn, this paper presents the combination of these three strategies as a positive alternative to address diversity in the classroom. A gamified augmented educational application has been designed that considers the principles of Universal Design for Learning to teach robotics in secondary education. The results show the application facilitates the inclusion of students, improving the fulfillment of the academic challenges.