Jenny 5 robot - short description

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Jenny 5 is an (almost) humanoid robot intended to be used mainly for research but also as a human assistant.

Jenny 5 was inspired by the Johnny 5 robot from the Short circuit movie. This a great movie that anyone must see.

Jenny 5 has a mobile platform with tracks, a pliable leg, two arms with 6 degrees of freedom each, one head and one LIDAR.

All source files (CAD, software etc) for Jenny 5 are freely available on GitHub. All code is released under MIT license so that anyone can freely use it in both personal and commercial applications.

Jenny 5 is easy and cheap to build. Most components can be purchased from robotics stores. Custom made parts can be printed with a 3D printer. Some aluminium profiles can be cut and drilled with tools available for hobbyists.

Materials (excepting the computer and webcams) cost about 1500 USD (please see the Bill of materials for more details).

Jenny 5 is designed in OpenSCAD which is a CAD software where you write instructions, instead of using the mouse, to create objects.

The platform is driven by 2 DC motors with planetary gearbox controlled by a RoboClaw board.

The leg is driven by 2 linear motors controlled by a RoboClaw board.

LIDAR consists of a TeraRanger One sensor, a stepper motor and infrared distance sensor (used as reference). All components are controlled by an Arduino Nano board.

Each arm has 5 stepper motors and each joint has attached a potentiometer for reading its position. Motors and sensors are controlled again by an Arduino Nano board.

The gripper is moved by a linear stepper motor and the closed position is determined with the help of a button. The gripper is connected to the same Arduino board as the entire arm. Gripper has attached an webcam used for recognising the objects closed to it and it also

The head has 2 degrees of freedom ensured by 2 stepper motors which have potentiometers attached for reading the position. The head has a webcam for object detection and an ultrasonic sensor for distance measurement. All head components, except the camera, are connected to an Arduino Nano board.

The entire robot is powered by 3 LiPo batteries: one for platform and foot, one for arms and head, and one for the LIDAR sensor.

Arduino boards run a specially crafted firmware called Jenny5-firmware which is able to control multiple stepper motors and read a variety of sensors: buttons, ultrasonic, potentiometers, infrared, LIDAR etc.

PC software is built around several libraries which send commands, on a serial port, to Arduino boards and to the RoboClaw controller.

Having all these elements, the robot can be utilised in a wide range of scenarios. Here are a short list of things that the robot could do (if programmed correctly):

  • House cleaning
  • Food preparation
  • Cleaning kitchen table
  • Working in the garden
  • Surveillance
  • Rescue
  • Disaster management
  • Fire fighting
  • ...

Jenny 5 is currently developed within the 1 Decembrie 1918 University of Alba-Iulia, Romania

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