Head-Neck Control
A biomimetic robot head with tendon-driven neck controlled via Raspberry Pi and PCA9685 servos.
- Humanoid
- Open source
- 3D printable
Suggested by Robotheca, created by @xingyaodad (opens in a new tab), from github.com/xingyaodad/HeadNeckControl (opens in a new tab). Pinned to commit 839e836 (opens in a new tab).
- Hardware license
- MIT (opens in a new tab)
- Software license
- MIT (opens in a new tab)
- Commercial use
- Allowed
Photo
This repository has no photo of the robot yet.
What it can do
Written by Robotheca from the project's documents.
- Real-time head pose tracking via iOS ARKit over UDP
- Play pre-recorded head animation sequences from local files
- Manual control via Windows GUI sliders
- Test mode for servo calibration and debugging
- Smooth motion transitions using RBF interpolation
Bill of materials
This repository has no parts list Robotheca can read yet.
Build guide
The creator's steps, each with its instructions.
- 1Prepare hardware components
- 23D print all parts
- 3Assemble the biomimetic head structure
- 4Install servos and tendon system
- 5Connect PCA9685 and Raspberry Pi
- 6Configure Raspberry Pi software
- 7Test and calibrate servos
The guide appears here as you scroll.
Guide by @xingyaodad (README.md), under MIT. The English translation is by Robotheca, shared under the same license.
More guides
Wiring and electronics
Notes written by Robotheca from the project's documents.
Main parts
- Raspberry Pi 3B+ or higher
- PCA9685 PWM driver board
- Eight MG996R metal-gear servos
- 12V 100W power supply
- Two to four 5V 5A buck converters
- IOS device with ARKit support
- Windows PC running .NET 8
Connections
- PCA9685 connected to Raspberry Pi via I2C bus
- Servos powered by 5V from buck converters
- Raspberry Pi receives UDP commands from iOS ARKit app and Windows PC
- Servos controlled by PWM signals from PCA9685
