Rhoby.The Social Robot.

Open-Source companion robot for teaching and playing

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Rhoby - open-source platform for creating a small social robots.
This robotics platform ideal for learning kids to programming and electronics. But most important what is it very useful for teaching "special" kids, with autism syndrome for example.
Rhoby have a small TFT-display for expression his own emotion, kids can communicate with robot via Android/IOS software and receive answer from robot's emotions or by graphics made by pencil attached to it. Also, Rhoby can check kids graphical answer via external camera or by line-following algorithm.
Rhoby is useful for teaching kids to numbers, alphabet, math basics, geometry, etc. Also, the Rhoby can be useful for adults when studying calligraphy of foreign languages.
Future of this project is a creating a open-source platform for the small robots which can communicate with people. This platform will be basic for researchers from makers/hackers community around the world who interested in social robotics.

Main goal of this project is creating powerful and versatile robotic platform, which everyone will can use for building own small social robots. In modern days this kind of machines is not so "hyped" but people still is interested in have one. In my opinion, we have technologies, algorithms, one-board computers which is enough for creating useful social robots, but with one exclusion - people don't need expect a artificial human or mind-equal partner, this type of robots, I think, must be more like smarter pet for us.

All sources will published  on Github . Binaries and 3D models will uploaded in Files section here.

For working with source files you need next software:

- KiCAD 5

- Xilinx ISE 14.7

- STM32CubeIDE

- Autodesk Inventor or any 3D CAD-system which can work with IGES and STL

Published under GNU GPL v3.0 license + CERN Open Hardware License

Standard Tesselated Geometry - 679.77 kB - 06/01/2019 at 17:54


Standard Tesselated Geometry - 454.18 kB - 05/16/2019 at 17:10


Standard Tesselated Geometry - 148.23 kB - 05/16/2019 at 17:10


GNU General Public License in markdown format

md - 34.09 kB - 12/25/2018 at 06:54


CERN Open Hardware License in markdown format

md - 8.99 kB - 12/25/2018 at 06:54


  • 1 × SN74AHCT14 Logic ICs / Gates and Inverters
  • 1 × Zynq-7Z007S SoC
  • 2 × LM2596 Power Management ICs / Switching Regulators and Controllers
  • 4 × GA12-N20 DC motor
  • 2 × TowerPro SG90 Hobby Servo

View all 30 components

  • First steps and future perspectives

    Ilyas Akhmetzyanov06/09/2019 at 11:06 0 comments

    Hello again!

    1. Project is alive. I working for project almost all my free time. And on video - first success.

    2. Platform is ready, and next step: optimization of the control algorithm and changing microcontroller to FPGA.

    3. If you watched the video, you know that I used BLE Terminal for control platform from smartphone via Bluetooth. So, a week ago I started for learn Kotlin language and Android Studio, because I want to create  convenient Android App for control and config.

    4. Future. Future is great. Rhoby will be based on SBC+FPGA architecture, because in my opinion, it is perfect combination for complicated DC or stepper motor control and acquisition data from numerous sensors.


    Stay tuned...

  • Omni-platform test

    Ilyas Akhmetzyanov05/15/2019 at 02:49 0 comments

    Hello for everyone!

    Prototype of the omni-platform is ready! I used STM32F103 "Bluepill" board and two L298-like DC motor drivers.

    I wrote program for microcontroller on C language with HAL library from STMicroelectronics.

    Sorry for my hands jitter.

  • Autism Awareness Day

    Ilyas Akhmetzyanov03/30/2019 at 10:19 0 comments

    Hello for everyone!

    If we speak about origin of the Rhoby project, all started from my desire to help to kids with ASD(Autism Spectrum Disorder).So, world has an Autism Awareness Day - April 2 of every year, since 2008. And for this purpose I changed main picture of the project by new one.

  • KE32-WROVER-C10 pinout

    Ilyas Akhmetzyanov12/23/2018 at 19:34 1 comment


    Few weeks ago I announced side-project for Rhoby - micRhoby.

    For micRhoby using KE32-WROVER-C10 evaluation board from Geekworm which based on ESP32-WROVER module. Here I want to present pinout made by myself.

    I hope it will be useful for people.

    Project is going on.

    #Rhoby.The Social Robot. 

  • Tracing way...

    Ilyas Akhmetzyanov06/03/2018 at 23:55 0 comments

    Hello again!

    I ended the motor board schematic and now I on tracing way.

    Motor board based on four L6205 ICs as I told earlier. It giving possibilities to use four stepper motor for more precise movement, But if you don't need this, still can connect up to 8(!) dc motors.

    Also I added possibilities to connect 8 Hall sensors like SS495A or 4 slotted optoisolators (MOC7811 or similar) for even more precise moving.

    Board need three types of powering:

    + VCC(3.3V) for logic levels which connect directly to the microcontroller or singleboard computer

    + 5V for Hall-sensors

    +VDD for motors (maximum 24V)

    Stay tuned and check Github page.

  • Schematic update

    Ilyas Akhmetzyanov05/31/2018 at 00:56 0 comments


    Main change in motor driver schematic is new ICs - L6205. Made by D-MOS technology, it has less resistance on open transistors and more efficient then L298.

    In same time I working for add possibilities to connect motor encoders based on Hall sensors or slotted optocouplers.

    For more detailed information stay tuned.

  • Base-building

    Ilyas Akhmetzyanov05/13/2018 at 07:11 0 comments

    Hello! Ilyas is here. Now I prototyping the Rhoby's wheel-base. Experimenting with mounting of the motors, still needs do a lot of work, but final realisation is close. In same time I started to soldering motor-control module.

    Stay tuned.

  • Base platform

    Ilyas Akhmetzyanov04/16/2018 at 00:11 0 comments

    After few weeks of the frustrations and procrastinations, base plate is here, finally. Now I have my own 3D-printer and I can faster passing way from the 3D model to the real object. Actually, my idea of mounting motors with zip ties is failed, obviously. But now I design motor holder for this purpose and will print it and will post about it as soon as possible.

  • Base Plate

    Ilyas Akhmetzyanov03/28/2018 at 14:57 0 comments

    I have updated base plate 3D file.

    Just changed position of the PCB mounting holes. Now I can design PCB according base plate's measures.

  • First Log

    Ilyas Akhmetzyanov03/24/2018 at 09:26 0 comments

    Hello for everyone!

    This is first project log and it about electronics.

    I uploaded schematic for motors driver on GitHub, PCBfor it  i will made as soon as possible. Now for ending this module I need to decide how to make connection for optical encoders universal.

    Stay tuned.

View all 10 project logs

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sassastatuscheck6 wrote 01/21/2024 at 17:16 point

you did a great job to make this robot object. i want to embed it with my webpage you can see here:

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ptnp2610 wrote 03/10/2023 at 10:22 point

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dogsfreedom1 wrote 01/29/2022 at 06:02 point

Me Dog Lover i want to ask If I purchase this robot for my 5 yr. old Grandson, can they dance or interact ?

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Josh Starnes wrote 09/01/2018 at 21:01 point

so any progress on this guy?

  Are you sure? yes | no

Ilyas Akhmetzyanov wrote 09/02/2018 at 09:06 point


I very busy on my main job, but almost finished motordriver PCB. Plus I remodeling printed parts for wheel-base.
I'm very appreciate you, for interest to my project. Please, stay tuned, updates is coming soon.

  Are you sure? yes | no

Duke Circuit Co.,Ltd wrote 07/14/2018 at 01:58 point

Can add a display on this robot?

  Are you sure? yes | no

Ilyas Akhmetzyanov wrote 07/18/2018 at 06:39 point

Yes, of course.

  Are you sure? yes | no

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