Carry the ring! Stack-chan

I wanted to do something different at my wedding! That's when I came up with the idea of having a robot bring the rings during the ceremony.Conventional Stack-Chan are small and don't move on their own, so I decided to make a large, cute robot that could move on its own.

System

Ros2 was used to control the robot.

Ros2 displays the face and converts cmd_vel obtained from the controller into wheel speed commands, which are then sent to M5Stack.

A driver was created for M5Stack using micro_ros to control Roller485.

Hardware

The Roller485 alone did not provide sufficient torque, so we created a reduction gear.

We achieved increased torque by using a planetary gear mechanism and spur gears.

https://x.com/Rw7DVtscPX/status/1915471929873768930

https://x.com/Rw7DVtscPX/status/1915726878494908720