Lasercut Robot Head

This robot head is an old project of mine. I built it few years ago and used it on few events, but most of this time it spent in its box. It is not cardboard this time but lasercut plywood as I was a showcase of LOFI Robot CODEBOX kit.

I reminded myself about it few days ago and thought it would be a nice example for the face tracking app, and an occasion to work on the Arduino version of the app as well.

The robot head is based on Arduino UNO board with 4 servo motors (2 micro and 2 standard). It can be controlled, left/right up/down, jaw movement and eyes rotation.

Face Tracking App for Arduino

Supported platforms

1. Desktop web browser – Chrome, Edge, Opera
2. Android
3. ChromeOS
4. iPhone or iPad – via Bluefy web browser

Hardware

The app communicates with the Arduino board over web-bluetooth so you need a bluetooth 4.0 module – HM-10 or MLT BT04.

Sample Arduino code

// Author: Maciej Wojnicki
// CARDBOARD.LOFIROBOT.COM
// More info: https://cardboard.lofirobot.com/lasercut-robot-head/
// Face Tracing APP for Arduino: 

#include <Servo.h>

int current_byte = 0;
int prev_byte = 0;

Servo serwo1;
Servo serwo2;
Servo serwo3;
Servo serwo4;

int face_x;
int face_y;
int face_z;
int face_yaw;
int face_pitch;
int face_roll;
int face_mouth;

void setup() {
  Serial.begin(9600);

  pinMode(5, OUTPUT);
  pinMode(10, OUTPUT);
  pinMode(9, OUTPUT);
  pinMode(6, OUTPUT);
}

void loop() {
  if (Serial.available() > 0) {
    current_byte = Serial.read();
    outputs_set();
    prev_byte = current_byte;
  }
}



void outputs_set() {

  //Face: X
  if (prev_byte == 201) {
    face_x = current_byte;
  }
  //Face: Y
  if (prev_byte == 202) {
    face_y = current_byte;
  }
  //Face: Z
  if (prev_byte == 203) {
    face_z = current_byte;
  }
  //Face: Yaw
  if (prev_byte == 204) {
    face_yaw = current_byte;
    servo1(current_byte);
  }
  // Face: Pitch
  if (prev_byte == 205) {
    face_pitch = current_byte;
    servo2(current_byte);
  }
  //Face: Roll
  if (prev_byte == 206) {
    face_roll = current_byte;
    servo4(current_byte);
  }
  //Face: Mouth Openness
  if (prev_byte == 207) {
    face_mouth = current_byte;
    servo3(current_byte);
  }
}


void servo1(int position) {
  serwo1.attach(10);
  serwo1.write(position * 1.8);
}

void servo2(int position) {
  serwo2.attach(9);
  serwo2.write(position * 1.8);
}
void servo3(int position) {
  serwo3.attach(6);
  serwo3.write(position * 1.8);
}
void servo4(int position) {
  serwo4.attach(5);
  serwo4.write(position * 18);
}

Related posts:

Hungry Hippo Mouth Squirrel Robot Dog Arduino Car Avoiding obstacles – Arduino Car Arduino Light Follower