LAVOOK Robot Arm 🤖

An AI-powered 4-axis robot arm with voice control and real-time object detection capabilities.

📸 Screenshots

Control Center	Manual Joints	Vision Feed

🎯 Overview

LAVOOK is a voice-controlled robotic arm that combines:

• Google Gemini AI for natural language understanding
• YOLOv8 for real-time object detection
• Speech Recognition for voice commands
• Modern GUI for manual control and monitoring

⚠️ Note: Vision-based object manipulation is currently under development. Voice control and manual operation are fully functional.

✨ Features

Feature	Status
Voice Commands	✅ Ready
AI Chat (Gemini)	✅ Ready
Manual Joint Control	✅ Ready
Object Detection (YOLO)	✅ Ready
Vision-based Pick & Place	🔄 In Progress
WiFi Control	✅ Ready
Dance & Wave Animations	✅ Ready

📁 Project Structure

lavook-robot-arm/
├── main.py              # Application entry point
├── gui.py               # Main GUI (CustomTkinter)
├── brain.py             # AI processing (Gemini, Speech, YOLO)
├── comms.py             # Serial communication
├── config.py            # Configuration settings
├── vision.py            # Camera and vision processing
├── requirements.txt     # Python dependencies
│
└── arduino/
    └── kuka_controller/
        └── kuka_controller.ino   # Arduino firmware

🔧 Hardware Requirements

Components

Component	Quantity	Notes
Arduino Mega 2560	1	Main controller
Servo MG90S	4	Base, Shoulder, Elbow, Wrist (chrome shaft version)
Servo SG90	1	Gripper only
ESP-01 + Adapter	1	Optional - for WiFi control
USB Webcam	1	For object detection
Microphone	1	For voice commands
5V Power Supply	1	2A minimum for servos

Servo Specifications

Servo	Torque	Speed	Used For
MG90S	1.8 kg·cm	0.1s/60°	Base, Shoulder, Elbow, Wrist
SG90	1.2 kg·cm	0.12s/60°	Gripper

⚠️ Important: Use the MG90S with chrome/silver shaft, not the dark gray shaft version (different dimensions).

3D Printed Parts

The robot arm 3D model is designed by andrem4c:

🔗 4DOF Robotic Arm (Cobot KUKA based)

Note: Only the 3D model STL files are from andrem4c. All software in this repository is original work.

Wiring Diagram

Servo Motors → Arduino Mega

Servo	Pin
Base	3
Shoulder	5
Elbow	6
Wrist	9
Gripper	10

ESP-01 → Arduino Mega (Optional)

ESP-01 Adapter          Arduino Mega
──────────────          ────────────
    VCC     ───────────► 5V
    GND     ───────────► GND
    TX      ───────────► Pin 19 (RX1)
    RX      ───────────► Pin 18 (TX1)

🚀 Installation

1. Clone Repository

git clone https://github.com/btdelen/lavook-robot-arm.git
cd lavook-robot-arm

2. Create Virtual Environment

python3 -m venv venv
source venv/bin/activate  # Windows: venv\Scripts\activate

3. Install Dependencies

pip install -r requirements.txt

4. Download YOLO Model

# Downloads automatically on first run, or manually:
python -c "from ultralytics import YOLO; YOLO('yolov8m.pt')"

5. Configure API Key

Get your Gemini API key from Google AI Studio and add it to config.py:

GEMINI_API_KEY = "your-api-key-here"

6. Upload Arduino Code

1. Open arduino/kuka_controller/kuka_controller.ino
2. Set your WiFi credentials (if using WiFi)
3. Select Arduino Mega 2560 and upload

7. Run

python main.py

🎮 Usage

Voice Commands

Command	Action
"base 90"	Move base to 90°
"shoulder 120"	Move shoulder to 120°
"gripper 0"	Close gripper
"dance"	Dance animation
"wave" / "hello"	Wave gesture
"home" / "reset"	Return to home position

AI Commands (Gemini)

Natural language commands like:

• "Pick up the bottle"
• "Put the apple in the box"
• "Wave hello"

�️ Roadmap

• Voice command control
• Gemini AI integration
• YOLO object detection display
• WiFi control via ESP-01
• Vision-based autonomous pick & place
• Inverse kinematics implementation
• Mobile app control
• ROS integration

🤖 Technologies Used

Technology	Purpose
Python 3.9+	Main application
CustomTkinter	Modern GUI framework
Google Gemini AI	Natural language processing
YOLOv8 (Ultralytics)	Object detection
SpeechRecognition	Voice command input
PySerial	Arduino communication
OpenCV	Camera processing

📄 License

This project is licensed under the MIT License - see the LICENSE file for details.

3D Model Attribution

The robot arm 3D model is designed by andrem4c:

• https://cults3d.com/en/3d-model/gadget/4dof-robotic-arm-cobot-kuka-based

All code (Python & Arduino) in this repository is original work.

🙏 Acknowledgments

• andrem4c - 3D robot arm design
• Google Gemini - AI assistant
• Ultralytics - YOLOv8
• CustomTkinter - GUI framework

📧 Contact

Created by @btdelen

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