Odile is a non-humanoid robot that can communicate information and emotions to an external human agent in a non-verbal way. It features a mobile base and two structurally similar extensions—one of which is more articulated than the other. Odile is fully operated in real time via a joystick. It includes a camera and a capacitive sensor, both of which can be monitored from any device connected to the same network as the robot.
This is an MSc thesis project conducted in the AIRLab laboratory of Politecnico di Milano.
This repository includes all the core components of the Odile robot system:
- Arms controller : Code for the Arduino Mega, which controls all servo motors in Odile’s upper structure
- Wheelbase controller : Code for the Arduino Uno, responsible for managing Odile’s movement, including speed and direction
- Rasp Odile : Code running on the Raspberry Pi 4.
- Receives joystick inputs and routes commands to both Arduinos (arms and wheelbase)
- Handles data acquisition from the camera and capacitive sensor
- Streams data for remote monitoring over the network
- 3D models : Blender files for all 3D-printed parts of Odile’s body
Odile requires two 12V batteries for the motors and a smaller one 9V for the Raspberry Pi. The Raspberry Pi is configured to automatically connect to the ReteMisty Wi-Fi network using the static IP address 192.168.104.30.
- Connect the batteries and power on the Raspberry Pi
- Connect your PC to the ReteMisty Wi-Fi network
- Access the Raspberry Pi via SSH:
- user: odile@192.168.104.30
- password: aerolabio
- Navigate to the Odile project folder (cd ~/Desktop/odile/)
- Activate the joystick by pressing the X button
- Run the main control program, python3 Main.py
- Power on the arms and the wheelbase ! Be careful when powering on the arms: move them into a slightly inclined position, then turn on the robot while keeping a hand on the last joint of the longer arm. This will prevent excessive momentum
- Open a browser and go to 192.168.104.30:7123. This will show the camera feed and the capacitive sensor state.
Erica Panelli - erica.panelli@outlook.it
Thesis: Odile: an expressive robotic agent for emotional exchange and information sharing