An open-source animatronic robot inspired by Korosuke from "Kiteretsu Daihyakka" (キテレツ大百科), featuring expressive eyes, lip-sync speech, on-device AI vision, and bipedal walking.
🏆 D-Robotics Robotics Dream Keeper Challenge entry. Stage 1 (Ignite) cleared — "RDK Explorer". Now in Stage 2 (Build) — see the system design doc. On-device YOLO11 vision is live (8.3 FPS, STAGE1.md). A by-product is the first open-source RDK X5 case.
This project creates a full-size (50cm) Korosuke robot inspired by:
- Disney's Olaf Robot - Expressive animatronic eyes and face
- BDX Droid - Bipedal walking mechanism
| Feature | Description |
|---|---|
| Brain | RDK X5 (10 TOPS BPU, ROS 2) — on-device perception + dialogue |
| Vision | BPU-accelerated YOLO11 person/face detection (live, on-board) |
| Eyes | 2× GC9A01 round displays driven by an ESP32-S3 eye coprocessor |
| Expressions | Animated eyes + 2-axis mouth (lip-sync) |
| AI Chat | On-device LLM + VOICEVOX TTS (speaks with "~nari" suffix) |
| Walking | (stretch) quasi-static bipedal "penguin" gait (QDD motors) |
| Accessory | 3D-printed sword on back |
Korosuke's brain is a D-Robotics RDK X5 (10 TOPS BPU, ROS 2). Perception and dialogue run on-device; the ESP32s are real-time servo/actuator sub-controllers it commands. Full design: docs/stage2_design.md.
flowchart TD
CAM[Camera] --> RDK
MIC[I2S mic] --> RDK
subgraph RDK["RDK X5 — cognitive core (ROS 2 + 10 TOPS BPU)"]
VIS[vision_node · BPU YOLO11 + face]
BRAIN[ai_brain · intent / state]
DLG[dialogue · LLM + 'nari' persona]
TTS[voice · VOICEVOX + lipsync]
BR[serial_bridge · ROS2 ⇄ UART]
VIS --> BRAIN --> DLG --> TTS
BRAIN --> BR
TTS --> BR
end
RDK --> SPK[Speaker / amp]
BR -->|UART| EYE[ESP32-S3 · eyes 2× GC9A01]
BR -->|UART| UP[ESP32 · mouth / neck / arms]
BR -->|UART| LO[ESP32 · legs / IMU · stretch]
Architecture pivot (Stage 2): the original design (3× ESP32 + an external home server running the AI) was re-wired so the RDK X5 is the single cognitive core. Stage 1 proved on-device YOLO11 vision (see STAGE1.md); Stage 2 expresses the whole robot as a ROS 2 graph.
| Category | Items | Est. Cost |
|---|---|---|
| Brain | RDK X5 8GB + open-source fan case | ~$140 |
| Eyes | 2× GC9A01 + ESP32-S3 coprocessor | ~$40 |
| Electronics | ESP32 x2 (sub), servos, IMU, mic/amp | ~$120 |
| 3D Printing | PLA, TPU filaments | ~$50 |
| Mechanical | Bearings, screws, rods | ~$30 |
| Total | ~$380 |
Full, itemized BOM with selection rationale: docs/bom.md · docs/inventory.md.
-
Clone the repository
git clone https://github.com/YOUR_USERNAME/corosuke-robot.git cd corosuke-robot -
Set up the home server
cd server pip install -r requirements.txt cp .env.example .env # Edit .env with your API keys python main.py
-
Flash firmware (using PlatformIO)
cd firmware/corosuke_upper pio run --target upload -
3D print parts (using OpenSCAD)
openscad hardware/3d_models/head/eye_mechanism.scad -o eye_mechanism.stl
corosuke/
├── ros2_ws/ # RDK X5 cognitive core (ROS 2) — Stage 2 (in progress)
│ └── src/ # korosuke_{msgs,vision,brain,dialogue,voice,
│ # expression,motion,bridge}
├── firmware/ # ESP32 sub-controller firmware (PlatformIO)
│ ├── corosuke_upper/ # Mouth / neck / arms (PCA9685)
│ ├── corosuke_lower/ # Legs / IMU (servo / QDD)
│ └── common/ # protocol.h (UART 0xAA..0x55), config.h
├── server/ # LLM + VOICEVOX (being folded on-device into ros2_ws)
├── hardware/3d_models/ # OpenSCAD: body + RDK X5 modular case
└── docs/ # stage2_design.md, bom.md, inventory.md, research
ディズニーのオラフロボットとBDXドロイドを参考に、フルサイズ（約50cm）のコロ助ロボットを製作するオープンソースプロジェクトです。
| 機能 | 詳細 |
|---|---|
| 頭脳 | RDK X5（10 TOPS BPU・ROS 2）— オンデバイスで認識と対話 |
| 視覚 | BPUでYOLO11 人物/顔検出（実機ライブ動作済） |
| 目 | GC9A01丸型ディスプレイ×2（ESP32-S3 目コプロセッサ駆動） |
| 表情表現 | アニメ目 + 口2軸（リップシンク） |
| AI会話 | オンデバイスLLM + VOICEVOX（「〜ナリ」語尾） |
| 二足歩行 | (ストレッチ) 準静的ペンギン歩き（QDDモーター） |
| 装備 | 背中に刀（3Dプリント製） |
| カテゴリ | 内容 | 概算価格 |
|---|---|---|
| 頭脳 | RDK X5 8GB + 自作ファンケース | 約¥21,000 |
| 目 | GC9A01×2 + ESP32-S3コプロセッサ | 約¥5,700 |
| 電子部品 | ESP32×2(サブ), サーボ, IMU, マイク/アンプ | 約¥18,000 |
| 3Dプリント材料 | PLA, TPU フィラメント | 約¥7,500 |
| 機構部品 | ベアリング、ネジ、ロッド | 約¥4,500 |
| 合計 | 約¥56,700 |
詳細BOM(選定理由つき): docs/bom.md ・ docs/inventory.md
-
リポジトリをクローン
git clone https://github.com/YOUR_USERNAME/corosuke-robot.git cd corosuke-robot -
ホームサーバーをセットアップ
cd server pip install -r requirements.txt cp .env.example .env # .envにAPIキーを設定 python main.py
-
ファームウェアを書き込み（PlatformIO使用）
cd firmware/corosuke_upper pio run --target upload -
3Dパーツを印刷（OpenSCAD使用）
openscad hardware/3d_models/head/eye_mechanism.scad -o eye_mechanism.stl
- Phase 1: Head & Expression System / 頭部・表情システム
- Phase 2: AI & Voice System / AI・音声システム
- Phase 3: Body & Arms / 胴体・腕
- Phase 4: Bipedal Walking / 二足歩行
- Phase 5: Integration & Mobile App / 統合・スマホアプリ
See CONTRIBUTING.md for guidelines.
MIT License - See LICENSE for details.
This is a fan-made project for educational and personal use. "Korosuke" (コロ助) is a character from "Kiteretsu Daihyakka" created by Fujiko F. Fujio. All character rights belong to their respective owners.
「ワガハイはコロ助ナリ！」 🤖