UPDATE: You can pre-order all electronics and parts for your Doly via Indiegogo!
Hello everyone!
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 Open 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 Open 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 Open Doly today! I hope you will have as much fun and learning as I did.
Tiny body packed with a vast amount of technology.* 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
STEP 1 : 3D PRINTAll 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.
Preferring a translucent resin for hands will give better results for hand lights.
Tracks printed with NinjaFlex 85A TPU
STEP 2 : PREPARE PARTSCustomize servo
* Remove bottom lid.
* Desolder cables.
* Solder 3 pin 1.0 mm pitch 60mm length cable.
* Close bottom cover.
* Remove top cover
* Secure SLA printed cover with screws
* Customized servo 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
STEP 3 : ELECTRICAL PARTS
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.
STEP 4 : ASSEMBLYThis video series will show you how to assemble the DIY Doly robot.
STEP 5 : CHARGER3D Print Parts
Charger Assemble
Once you have printed the 3D parts, you will need to assemble the charger board. The schematics and component list (BOM) are located at this link.
When all 3D printed parts are ready,
- Apply glue carefully to both the top and bottom surfaces.
- Make sure the glue is kept away from the edges.
- Ensure that the part is aligned properly.
- Secure the top side to the bottom side.
- Install the charger module and secure the bottom lid with four screws after a few minutes.
Software,You can find a pre-compiled kernel image which includes drivers, modules and libraries at this link.
I'm working on examples to demonstrate how to control and access features, however you can find some C++ examples in here.
Doly Prototype Videos / DIY Doly PossibilitiesVoice interactions with Picovoice.
Updates,05 April 2023 Missing motor encoder PCB files added to Github repository.
19 October 2023 I've got a significant update on Project Doly to share. 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 our upcoming Kickstarter campaign! This means building your Doly will be easier than ever.
Keep an eye on our Kickstarter project for more details and updates!
07 January 2024 We will be live on Kickstarter at 13th February!
13 February 2024 Exciting news! We are LIVE on KICKSTARTER! Support our campaign NOW!
19 March 2024 Pre-order available via Indiegogo
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