Jenny 5 robot

thingiverse

Jenny 5 is an (almost) humanoid robot intended to be used mainly for research but also as a human assistant. More details about Jenny 5 can be found at [https://jenny5.org](https://jenny5.org) or [https://jenny5-robot.github.io](https://jenny5-robot.github.io). Jenny 5 was inspired by the Johnny 5 robot from the Short circuit movie. This a great movie that anyone must see. Jenny 5 has a mobile platform with tracks, a pliable leg, two arms with 7 degrees of freedom each and one head All source files (CAD, software etc) for Jenny 5 are freely available (under MIT license) on GitHub. The web site of the organization is [https://github.com/jenny5-robot/](https://github.com/jenny5-robot/). Jenny 5 is easy and cheap to build. Most components can be purchased from robotics stores. Custom made parts can be printed with a 3D printer. Some aluminum profiles can be cut and drilled with tools available for hobbyists. Materials (excepting the computer) cost about 2500 USD (please see the [Bill of materials](https://docs.google.com/spreadsheets/d/1SwaC4woJEvUEqn66lIG9MLYkuADfTsWIQtvDKaCQT1s/edit?usp=sharing) for more details). Jenny 5 is designed in OpenSCAD which is a CAD software where you write instructions, instead of using the mouse, to create objects. The platform is driven by 2 DC motors with planetary gearbox controlled by a RoboClaw board. The leg is driven by 2 linear motors controlled by a RoboClaw board. Each arm has 6 stepper motors and each joint has attached a magnetic sensor for reading its position. Motors and sensors are controlled by an A-Star 32U4 Mini board. The gripper is powered by a servo motor. The gripper is connected to the same A-Star 32U4 Mini board as the entire arm. The gripper has attached a webcam used for recognizing objects closed to it. The head has 2 degrees of freedom ensured by 2 stepper motors which have magnetic attached for reading the position. The head has a webcam for object detection and an ultrasonic sensor for distance measurement. All head components, except the camera, are connected to an Arduino Nano board. The entire robot is powered by 2 LiPo batteries: one for platform and foot and one for arms and head. A-Star / Arduino boards run a specially crafted firmware called [Scufy](https://github.com/jenny5-robot/Scufy) which is able to control multiple stepper motors and read a variety of sensors: buttons, ultrasonic, potentiometers, infrared, LIDAR etc. PC software is built around several libraries which send commands, on a serial port, to A-Star/ Arduino boards and to the RoboClaw controller. The robot can be manually controlled by an HTML5 application running within the browser on a smartphone. The HTML5 application connects with a server running on the robot. The server is the one that actually execute the commands(move, read sensors) etc. The server is built on a top of a light WebSocket server. Having all these elements, the robot can be utilised in a wide range of scenarios. Here is a short list of things that the robot could do (if programmed correctly): House cleaning Food preparation Cleaning kitchen table Working in the garden Surveillance Rescue Disaster management Fire fighting ... For more details please read the [technical report](https://www.researchgate.net/publication/334974417_Jenny_5_-the_robot) about Jenny 5. You can also subscribe to [Jenny 5 Google group](https://groups.google.com/forum/#!forum/jenny5).