The companion robot needs to be powered without the use of mains voltage. This is to make the companion robot portable and to make sure the development is safe.  The companion robot uses a LiPo battery encased in a 3D printed battery holder (found in file log). The battery is connected to an Adafruit PowerbBoost to allow the companion robot to be rechargeable and easy to use. The Powerboost can be directly connected to the Raspberry Pi.