mazhar11-cou / robot-blueberry

Raspberry based humanoid robot.

Robot Blueberry

Index

Introduction
Here we used
Features
Language and Tools
Position Block Diagram
Servo Inital Position
DC motor connection:
Servo Move
Servo Inital Position
Acknowledge

It is Raspberry Pi based Humanoid Robot

It's made by team robosouls:

Name	Post	Email
Shanjit Mondal	Circuit & Mechanical Designer	[email protected]
Jewel Nath	Programmer	[email protected]
Mestu Paul	Programmer	[email protected]

Component and Device

1. Raspberry Pi as a cpu of our robot
2. Servo Motors for move of by parts
3. DC Motors for displacement
4. Ultrasonic Sensors for measurement of distance and obstacles
5. LED for listening(green) and speakinging(red) indicators
6. LCD Display for showing message
7. Aluminium sheet, Aluminum angle, SS for making robot body
8. Makeup Mannequin as a robot face

Features:

• Take a command and replay accrding to command
• Hand's UP
• Hand Shake
• Salute
• Go forward and backword
• Turn left and right
• Bye Bye
• Auto move mode
• Expression while talking
• Hug
• Move at any direction
• Touch own body parts

Programming Language and tools we used -

Python	C++	Bash	Terminal	Raspberry Pi	Arduino

Servo Motor Position Block Diagram:

Servo Initial positions:

servo no	connection	position	Limitation	Direction	Description
1	gpio-40(21)	0	35	Front/Back
2	i2c-0	90	180	Right/Left
3	i2c-1	0	180	Up/Down(Right/Left)
4	i2c-2	180	180	Up/Down(Right/Left)
5	i2c-3	0	0	Up/Down(Front/Back)
6	i2c-4	170	0	Up/Down(Front/Back)
7	i2c-5	170	180	Right/Left
8	i2c-6	0	180	Right/Left
9	i2c-7	180	180	Up/Down(Front/Back)
10	i2c-8	0	180	Up/Down(Front/Back)
11	i2c-9	60	180	Right/Left
12	i2c-10	150	180	Right/Left
13	i2c-11	0	180	Open/Close
14	i2c-12	0	180	Open/Close
15	i2c-13	0	180	Open/Close
16	i2c-14	0	180	Open/Close
17	i2c-15	0	180	Open/Close
18	gpio-19(10)	0	180	Open/Close
19	gpio-21(9)	0	180	Open/Close
20	gpio-22(25)	0	180	Open/Close
21	gpio-23(11)	0	180	Open/Close
22	gpio-24(8)	0	180	Open/Close

DC motor connection:

Leg	Enable Pin	Front Pin	Back Pin
Right	13(27)	35(19)	36(16)
Left	15(22)	37(26)	38(20)

Servo Move:

Salute

start.

pin	degree
7	0
3	180
7	80
5	60

normal

pin	degree
7	180
3	0
5	170

Hug

start

pin1	degree	pin2	degree
7	0	8	180
3	90		90
1	50	2	150
7	50	8	130
5	90	6	90

stop

pin1	degree	pin2	degree
7	180	8	0
3	0	4	180
1	20	2	160
5	170	6	10

Hand Shake

start

pin	degree
3	60
7	140

shake

pin	degree
7	155
7	125

** 10 times change**

normal

pin	degree
7	180
3	0

Hand's Up

start

pin1	degree	pin2	degree
8	180	7	0
2	40	1	140
4	90	3	90
8	130	7	70

stop

pin1	degree	pin2	degree
8	0	7	180
4	180	3	0
2	160	1	20

Acknowledge

• Shivasiddharth
• Picovoice
• Simon Monk
• StackOverflow