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MindPaw

A desktop quadruped robot based on ESP8266 with voice control, gesture recognition, web remote, and AI conversation.

  • Quadruped
  • Open source
  • Works with AI
  • arduino
  • 3D printable

Suggested by Robotheca, created by @ace-trump-tech (opens in a new tab), from github.com/ace-trump-tech/MindPaw (opens in a new tab). Pinned to commit 21c5492 (opens in a new tab).

Fork on GitHub (opens in a new tab)Download the files at this commit (.zip)
Hardware license
MIT (opens in a new tab)
Software license
MIT (opens in a new tab)
Commercial use
Allowed

This repository contains executable files that Robotheca doesn't check. Only run them if you trust the creator.

Which files (1 program or installer)

Photo and 3D model

MindPaw, photo from its repository
Photo:@ace-trump-tech (opens in a new tab)MITsource file (opens in a new tab)

3D preview converted from github.com/ace-trump-tech/MindPaw at 21c5492, under MIT. View the original files from GitHub (850 KB) (opens in a new tab)

What it can do

Written by Robotheca from the project's documents.

  • Moves forward, backward, left, right, sits, lies down, stands up, raises left or right paw
  • Recognizes voice commands like 'forward', 'stop', 'happy', 'hello', 'sit', 'lie down'
  • Displays 7 emotions on OLED screen (happy, angry, sad, curious, loving, error, dizzy)
  • Plays 10 sound effects via speaker (startup, confirmation, emotion feedback)
  • Recognizes hand gestures in front of camera (wave, fist, point) to trigger actions
  • Runs in free-roaming mode with random movements
  • Shows time and weather on OLED screen
  • Streams real-time 3D point cloud to browser for obstacle avoidance (v2.0)

Works with AI

Found by Robotheca in the project's files at commit 21c5492, its robot.yaml and Robotheca's notes on its documents. Never guessed; Robotheca doesn't run the code.

Bill of materials

This repository has no parts list Robotheca can read yet.

Build guide

The creator's steps, each with its instructions.

  1. 1Flash firmware to verify the environment
  2. 2Fabricate PCB and 3D print parts
  3. 3Solder components and assemble hardware
  4. 4Configure optional APIs (weather and AI conversation)
  5. 5Configure voice module and test interactions

The guide appears here as you scroll.

Guide by @ace-trump-tech (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

  • ESP12F (ESP8266) microcontroller board
  • 4x SG90 servo motors for legs and movements
  • SSD1306 OLED display (128×64 I2C) for emotions and status
  • OV2640 camera module (ArduCAM Mini SPI interface) for gesture recognition
  • HLK-V20 (SU-03T) voice recognition module (UART interface)
  • 8Ω speaker with S8050 NPN transistor driver circuit
  • AMS1117 voltage regulator (3.3V output for ESP and peripherals)
  • Battery voltage monitoring circuit (100KΩ + 12KΩ voltage divider)
  • MicroUSB port for power input (5V)
  • I2C pull-up resistors (4.7KΩ) for OLED

Connections

  • ESP12F GPIO14 (D5) → Servo 1 signal + OV2640 SCK (with 1KΩ series resistor)
  • ESP12F GPIO12 (D6) → Servo 3 signal + OV2640 MISO (with 1KΩ series resistor)
  • ESP12F GPIO13 (D7) → Servo 4 signal + OV2640 MOSI (with 1KΩ series resistor)
  • ESP12F GPIO15 (D8) → OV2640 CS (with 10KΩ pull-down to GND, required for boot)
  • ESP12F GPIO16 (D0) → Servo 2 signal or speaker transistor base (via 1KΩ resistor)
  • ESP12F GPIO0 (D3) → HLK-V20 TX (SoftwareSerial RX)
  • ESP12F GPIO2 (D4) → Button to GND (INPUT_PULLUP, must be HIGH at boot)
  • ESP12F GPIO4 (D2) → OLED SDA (I2C data, with 4.7KΩ pull-up)
  • ESP12F GPIO5 (D1) → OLED SCL (I2C clock, with 4.7KΩ pull-up)
  • ESP12F A0 → Battery voltage divider (100KΩ + 12KΩ) → Battery positive