Tiny robot packed with a vast amount of technology.

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UPDATE: Exciting news! We are LIVE on KICKSTARTER! Support DOLY NOW!

Raspberry Pi powered DIY Doly project, where you have the opportunity to create your own customizable companion robot from scratch. Doly is more than just a robot; it's an embodiment of your creativity and innovation. In this project, you'll explore the exciting world of robotics and coding to bring your own DIY Doly to life.

As you're aware, I am launching a Kickstarter project to bring Doly to all robot enthusiasts, and I have been listening to your feedback. Many of you mentioned the challenges of soldering small parts.

So, here's the exciting news: I will be introducing a DIY kit in my upcoming Kickstarter campaign! This means building your Doly will be easier than ever.

Thanks for your support!

Hello everyone!

Firstly, please don't make assumptions if you've come across a post similar to this one before. I'm reaching out to connect with fellow robot enthusiasts who share my passion. While I'm an engineer and creator, I'm not a writer, so I appreciate your patience and understanding. Thanks!

You might be familiar with the postponed Doly Kickstarter project. After launching, I received a lot of feedback. Many of them asked for additional features and more flexibility. People have different needs. Some wanted to build it themselves, others were looking for a developer platform for AI projects or other robotic features. Others were looking for a robot for their child's education or just for fun. That's why I upgraded Doly to meet all these demands. The original design was based on embedded design running Linux, but now it's based on the Raspberry Pi CM4 and it works with any CM4 with WiFi. This updated design provides more flexibility, allowing you to upgrade your hardware if you need more RAM or storage for complex projects. Plus, you now have access to hardware with 6 GPIO, 2 servos, UART, I2C and USB.

I expected the upgrade to take 4 months, but it ended up taking 6 months. During this time, I was unable to secure my CM4 orders and I kept waiting for my order. However, I used this time to work on the Open Doly project and now I'm excited to share with you how to build a robot from scratch.

On this project page, I will explain how you can build your own DIY Doly. It's a do-it-yourself project, and it doesn't come with a complete software package like Doly, as it uses non-free APIs and SDKs that don't allow for that. However, I'm working on software support for your custom robot, including control of displays, servos, sensors, and more. My goal is to provide you with all the information and support you need, including drivers, libraries, and more, to ensure your success.

I want to thank all robot lovers, makers, and DIY enthusiasts for your support and feedback. I hope this project inspires you to create something amazing and unique.

Building a robot from scratch may seem intimidating, but with the right resources and guidance, it can be a fun and rewarding experience.

The first step is to 3D print all STL sources.

The second step is to gather the necessary materials, Raspberry Pi CM4, some electronics components, servo motors, displays and a power supply. The project documentation provides a detailed list of all the components you need.

The next step is to assemble the robot following the instructions in the project details, which include schematics and all the information you need.

After assembling the robot, you can start programming it to perform various functions. The Raspberry Pi CM4 runs on Linux, making it easy to write and run code. You can use C++, Python or other programming languages to control the motors, sensors, camera and other components. The project documentation will provide a list of examples and tutorials to help you get started.

In conclusion, building your own DIY Doly can be an exciting and educational experience. You will learn about electronics, programming, and robotics, and at the end, you will have created something unique and functional. So go ahead and start building your DIY Doly today! I hope you will have as much fun and learning as I did.


* Raspberry Pi CM4
* 8 megapixel Sony IMX219 camera
* 2x Touch sensors
* 6 Axis IMU sensor
* 2x TOF sensor
* 4x IR edge sensor
* 2x microphone
* 2x speaker
* 2x servo motor
* 2x motor with encoder
* 2x LCD Display
* 2x RGB led
* 6x GPIO pins
* 1x Qwiic / I2C port
* 1x UART port
* 1x USB output
* 2x Servo output
* 18650 battery

Possibilities with Open Doly

* Face recognition
* Speech recognition
* Object recognition
* Autonomous companion robot
* Development platform for study
* Block Based programing
* Surveillance camera
* Desktop assistant

Doly Prototype Videos / DIY Doly Possibilities

... Read more »

  • 1 × Raspberry Pi Compute Module 4
  • 1 × Doly's Motherboard
  • 1 × Doly's Eye module
  • 1 × Doly's Bumper module
  • 2 × Doly's Arm module

View all 38 components

View all 2 project logs

  • 1
    STEP 1 : 3D PRINT

    All STL files are located in here. An FDM 3D printer is required for files that begin with "FDM". An SLA 3D printer is required for files that begin with "SLA".

    It is easy to print with PLA, however I recommend printing a heat-resistant filament like PETG or ABS for the bottom lid.

    FDM printed body parts
    FDM printed body parts

    Preferring a translucent resin for hands will give better results for hand lights.

    SLA printed parts
    SLA printed parts

    Tracks printed with NinjaFlex 85A TPU
    Tracks printed with NinjaFlex 85A TPU
  • 2

    Customize servo

    1) Remove bottom lid.
    2) Desolder cables.
    3) Solder 3 pin 1.0 mm pitch 60mm length cable.
    4) Close bottom cover.

    1) Remove top cover
    2) Secure SLA printed cover with screws
    3) Servo customization completed

    Charge Connectors
    * Print attached connector drawing with 1:1 scale
    * Paste printed paper to Phosphor Bronze sheet with double sided tape
    * Cut from outer edges
    * Bend edges as shown
    * Remove tape and paper

  • 3

    PCB Design

    Designing electronics was not easy due to chip shortages. There is a high chance that you can find listed electronics. However, sometimes you will find components with a different package. If you would like to do it by yourself, you can access the schematics, Gerber files and BOM files from link.

    After electronic components are placed on PCB you have to align LCD to Eye PCB with help of 3D printed aligner which is located at link as "LCD_aligner.STL".

    * Place eye PCB into aligner as shown.
    * Bond LCD to PCB with a double sided tape.
    * Remove LCD cover plastics.
    * Apply screen protector glass.

View all 6 instructions

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