Robot Blueberry

Index

Introduction
Component and Device
Features
Language and Tools
Block diagram
Servo configuration
DC motor configuration
Sensor Configuration
Servo Movement record
Memories
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 microprocessor
2. Arduino microcontroller
3. Servo Motors
4. DC Motors
5. Ultrasonic Sensors
6. LCD Display
7. Gas sensor
8. Smoke sensor
9. Fire sensor
10. Gyroscope sensor
11. Gps Tracker
12. LED matrix cube

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
• active sensor and read value and give the output

Programming Language and tools we used -

Python	C++	Bash	Terminal	Raspberry Pi	Arduino

Block Diagram:

Servo Configuration

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 configuration

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

Sensor configuration

Sensor	Pin
Gas	4
Smoke	7
Fire	13
Ldr	21
Gyroscope	I2C
Ultrasonic	echo:11, trigger:8

Servo Move Record:

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

Memories

Photos:

Videos:

News:

• shadow news
• MCJ news

Acknowledge

• Shivasiddharth
• Picovoice
• Simon Monk
• StackOverflow