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

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 (comming soon)

Other Software to install on the RasPi

• OpenCV
• SVOX-Pico-TTS-Engine

3d printed parts

• Roobert 3d files (comming soon)
• Servo holder on Thingiverse