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Minibots

An open-source, open-hardware autonomous mini robot (minibot) built from 3D-printed parts and an ESP8266 board, used for experiments in autonomy, machine learning and programming.

  • Wheeled
  • Open source
  • Works with AI
  • 3D printable

Suggested by Robotheca, created by @samir-souza (opens in a new tab), from github.com/samir-souza/minibots (opens in a new tab). Pinned to commit 45b1f2f (opens in a new tab).

Fork on GitHub (opens in a new tab)Download the files at this commit (.zip)
Hardware license
CC-BY-SA-4.0 (opens in a new tab)
Software license
GPL-3.0-only (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 (3 scripts, 3 firmware images)

Photo and 3D model

Minibots, photo from its repository
Photo:@samir-souza (opens in a new tab)CC-BY-SA-4.0source file (opens in a new tab)

3D preview converted from github.com/samir-souza/minibots at 45b1f2f, under CC-BY-SA-4.0. View the original files from GitHub (1.4 MB) (opens in a new tab)

What it can do

Written by Robotheca from the project's documents.

  • Autonomous small wheeled bot built from a 3D-printed chassis and a custom PCB, meant for experiments in autonomy, machine learning and programming.
  • Drives on two continuous-rotation servos (hacked SG90 micro servos) driven by PWM from the ESP8266.
  • Used as a car-like agent in a Smart City demo where a central backend sends routing commands over UDP.
  • Controlled over the network by a backend server; WiFi and backend server address are set in lua/config.lua.

Works with AI

Found by Robotheca in the project's files at commit 45b1f2f, its robot.yaml and Robotheca's notes on its documents. Never guessed; Robotheca doesn't run the code.

  • “Autonomous small wheeled bot built from a 3D-printed chassis and a custom PCB, meant for experiments in autonomy, machine learning and programming.”

    Robotheca's notes: What it can do

Bill of materials

This repository has no parts list Robotheca can read yet.

Build guide

The guide appears here as you scroll.

Guide by @samir-souza (README.md), under CC-BY-SA-4.0 (hardware) and GPL-3.0-only (software).

More guides

Wiring and electronics

Notes written by Robotheca from the project's documents.

Main parts

  • ESP8266 (ESP-06 package) microcontroller running NodeMCU Lua firmware.
  • Two hacked Micro Servo 9g SG90 servos as drive wheels.
  • MPU6050 accelerometer and gyroscope.
  • MCP1253 power pump providing a regulated 3.3V supply to the microcontroller.
  • TP4056 battery charger module and a single 18650 Li-ion battery holder.
  • Status LED (3mm), mini slide power switch, and an antenna pin header.

Connections

  • Both servos connect directly to the battery supply, while the rest of the circuit is powered from the MCP1253 regulated 3.3V output.
  • Each servo connects to a three-pin header on the PCB, carrying its PWM control signal.
  • The MPU6050 is attached to the ESP8266 on the PCB.
  • The TP4056 charger wires run from the PCB power connection to the battery holder.