A raspberry pi and roomba robot

Read all articles:

1. Introduction and head
2. Neck design and movement
3. The chassis
4. Moving the head up and down
5. Hands and arms
6. 3d sensor
7. The front RGB LED display

Video:

Impressions:

Shopping list (only the primary parts):

Head

• 1 x Raspberry Pi 3
• 1 x Raspberry Pi Camera
• 1 x Official Raspberry Pi 7" Touchscreen Display

Neck

• 2 x Micro Taster (as end stop detectors)
• 2 x PCF8574 IO Expansion Board 8-bit I/O Expander for I2C Bus
• 1 x Grove - I2C Motor Driver
• 2 x DC 5V 4 - Phase 5 Stepper Motor 28BYJ-48 + ULN2003 to move the head up/down
• 1 x QSH4218-35-026 Trinamic stepper motor to move the head left/right
• 1 x UCF204 Square Flange Ball Bearing 4-Bolt 20mm

Chassis

• a used Roomba Vacuum Robot
• 4 x DC Step Down Voltage Regulator Module

Body

• A set of Makerbeam
• 1 x NeoPixel 8x8 - 64 RGB LED Pixel Matrix

3D-Sensor

• 2 x Frontier TowerPro SG92R Micro Digital Servo
• 1 x Ultrasonic Sensor
• 1 x Servo holder
• 1 x SunFounder PCA9685 16 Channel 12 Bit PWM Servo Driver

Miscellaneous

Roobert source code

• Visit the Roobert project on github

Other Software to install on the RasPi

• OpenCV
• SVOX-Pico-TTS-Engine

3d printed parts

• Roobert 3d files
• Servo holder on Thingiverse