Robbie Phase 1 Complete
Robbie has successfully completed Phase 1, and we now have a fully operational robot capable of performing a wide range of core functions. Key features include:
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Autonomous navigation to any given location
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SLAM (Simultaneous Localization and Mapping) for real-time environment mapping
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Automated docking with the charging station
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Executing navigation sequences, moving between multiple waypoints
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Full MoveIt integration for both arms
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Arm and head coordination, enabling the arms to reach a target while the head tracks it
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YOLOv5-based object detection
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Howie chatbot serving as the onboard AI for conversational interaction and control
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Custom GUI for arm manipulation, wheel status monitoring, sending navigation commands, and triggering preset arm poses
The robot's arms are based on the Aster robot design, which itself is derived from the Poppy platform. They are well-proportioned for the chassis and just clear the deck during motion. The first two joints use 40kg servos, which remain surprisingly cool during operation. We've implemented the ServoEasing Arduino library to smooth out the movements—greatly reducing the initial jerkiness and overall shakiness of the robot. As confidence in the arm kinematics grows, we can safely increase movement speed to produce a more natural and lifelike appearance.
The arms are resin printed, which gives them a clean aesthetic, though long-term durability is still under evaluation. The grippers are currently more placeholders than practical, serving primarily for visual and alignment purposes. Proper pick-and-place performance will likely require a redesign of the grippers—and possibly the entire arm assembly. Once the outer covers are added, we may encounter thermal challenges, but with winter approaching, overheating shouldn't be a major concern. On the plus side, the covers will help keep out dust and foreign object debris (FOD).
Phase 2 Plans
Looking ahead, Phase 2 will focus on increasing autonomy, interactivity, and dexterity. Planned milestones include:
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Routine autonomous behaviors – Robbie will regularly roam the house, perform idle animations like fidgeting or muttering, and initiate casual conversation using Markov chains for randomized speech patterns
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Enhanced pick-and-place capabilities – introducing true object grasping, lifting, and positioning using updated grippers and motion logic
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Face detection, tracking, and recognition – allowing Robbie to greet known individuals by name, follow faces during conversation, and log new encounters
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Photo capture missions – patrolling the house while using YOLO to detect interesting objects and take photos automatically
