Let's Make Robots!


Reacts on sensory input, speaks, shows hand gestures

***Update 04/08/2012***

Some more programming done, see video HEAND_2: Random movements of the hand, touch sensor (integrated in its head), changing eye color when touched.


***Update 02/08/2012***

Testing the IR compound eye and the RGB LED eyes, see video HEAND_1. Next step is to program the touch sensor and multi color pattern for the LED eyes.



I am working since two months on this table top robot. It displays a 2 DOF head with 2 full color RGB LED eyes and a 8 DOF robot hand (6 DOF hand and 2 DOF wrist), hence the fancy name H.E.A.N.D. As it is a table top robot, I have no issues with batteries - I simply use a regulated S-100-5 5 V/20 A power supply, which costs 52 RMB (~8.2 USD) on Chinese ebay called taobao. The robot is equipped with following sensors:

H.E.A.N.D.'s tasks are so far:

  • Object tracking (hardware built, coding done)
  • Reacting on touch by changing eye color (RGB LED eyes as described here)
  • Speech (using a SOMO-14D if I get it working on a Windows 7, 64 bit. Can't even access the website with most VPN connections from China or download any software!!!)
  • Color sensing and speech output
  • Gas sensing and speech output
  • Building a personality according to its experiences and pre-set thresholds
  • Hand gestures
  • Playing Rock-paper-scissors (recognition by color cards?)

Here are some images of the built...

Fig. 1 Hand back view


Fig. 2 Side view of the hand


Fig. 3 Front view of the hand


Fig. 4 Details of the hand. The fingers are made from Ø 10 x 2 mm silicone hose, plastic stand-offs, 1.5 mm aluminium sheet, Ø 0.5 mm fishing line, pushed and pulled by luster terminal inserts, mounted on the servo horns. The servos are digital ones with metal gear, turning 360 °, approx double price of standard 9g micro servos and a few milimeters smaller (normally used for helicopters)


Fig. 5 Construction of the head


Fig. 6 Full color RGB LED eyes construction


Fig. 7 Mechanical setup nearly finished

Fig. 8 Three mini ball castors supporting the turn able wrist


Fig. 9 Aye-Aye Sir! Your wish is my command!

Comment viewing options

Select your preferred way to display the comments and click "Save settings" to activate your changes.

Looks to be one of the more charming deskbots yet. I can't wait to see, er, hear it with audio. Are you having problems acquiring the software for it? I have all the software for the SOMO-14D here on LMR if that's helps you at all. If not I can try emailing the software to you if you think that might work.

Thanks, JAX. I saw that and downloaded the converter. It seems I have a problem with formating the SD card (mine is 8 GB). I can only format it to FAT 32, but it seems the SOMO-14D only supports FAT 16 (max. 2 GB). I have ordered a 2 GB micro SD card today, will see if it works then.

 Amazing bot :D 

Have you adapted the tracking code from Mr. General or did you write your own from scratch? 

If you adapted the Mr. general code then you can change the LR and UD scalefactors to smooth out the tracking movement. These values help to compensate for different servo speeds and prevent under/over correction.

It is best to allow 200uS between when you turn your IR LEDs on/off and when you take your first reading from the phototransistors. They seem to need this time to fully respond to the change in light levels even though the datasheet says 15uS.

I have adapted your code. I could not write it cleaner:) I'lll play with the LR and UD scalefactors, have not touched them yet.

looking at your videos I suspect it will need an extra wrist joint to pass the salt and pepper but still it is a very interresting robot. I wonder if it could be used to teach sign language to deaf people.

At least it can spread salt or pepper :P Actually the hand is not made to hold or move something specific objects, more a simple communication tool. Some letters at fingerspelling can not be displayed as the fingers can not be crossed or spread.

this is very awesome!!! i really like it! another awesome job Markus!

Thank you all for the nice comments. More will follow soon...

Thumbs up that you already show us a video ;-)