https://github.com/m4yh3m-dev/project-astra

A powerful, emotion-aware mobile assistant robot built for real-world intelligence, research, interaction, and multi-domain AI applications.
https://github.com/m4yh3m-dev/project-astra

3d-printing arduino jetson-orin-nano lidar-slam opencv robotics ros2 yolov8

Last synced: 6 months ago
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A powerful, emotion-aware mobile assistant robot built for real-world intelligence, research, interaction, and multi-domain AI applications.

• Host: GitHub
• URL: https://github.com/m4yh3m-dev/project-astra
• Owner: M4YH3M-DEV
• License: apache-2.0
• Created: 2025-04-18T16:15:48.000Z (6 months ago)
• Default Branch: main
• Last Pushed: 2025-04-21T13:27:43.000Z (6 months ago)
• Last Synced: 2025-04-21T14:45:58.293Z (6 months ago)
• Topics: 3d-printing, arduino, jetson-orin-nano, lidar-slam, opencv, robotics, ros2, yolov8
• Homepage:
• Size: 1.34 MB
• Stars: 1
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

          
 UNDER WORK  


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# 🤖 ASTRA MVP – Autonomous Smart Tech Robotic Assistant (MVP)

![Banner](./ROBOT_MVP.png)

A powerful, emotion-aware mobile assistant robot built for real-world intelligence, research, interaction, and multi-domain AI applications.

## 🌟 Vision

**ASTRA (Autonomous Smart Tech Robotic Assistant)** is designed to be a modular, scalable robotic system combining computer vision, real-time ML, intelligent mobility, and emotional intelligence to interact with the physical world in an intuitive, human-centered way.

The MVP serves as a proof-of-concept platform for robotics + AI/ML + embedded systems + HCI research and innovation.

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## 🔩 Hardware Overview

| Component | Description |

|----------|-------------|

| **Main Controller** | NVIDIA Jetson Orin Nano Super (8-core ARM Cortex + 20 TOPS AI) |

| **Support Boards** | Raspberry Pi 5 (Sensor I/O & lightweight ML), Arduino Mega (actuators), ESP32 (wireless, BLE, sensor fusion) |

| **Camera** | Intel RealSense D435i (Depth + RGB) |

| **Lidar** | RPLidar A1/A2 (for mapping & navigation) |

| **Display** | 64x64 LED Matrix or OLED screen for Emotion UI |

| **Mobility** | 2WD or 4 Omni-wheel base (with geared motors + motor drivers) |

| **Sensors** | Ultrasonic, IMU (MPU6050), IR, ToF, GPS, Compass |

| **Connectivity** | GSM module (SIM800L), WiFi (ESP32 + Jetson), GPS (Neo6M) |

| **Power System** | 12V Li-ion battery (8000–10000mAh), 5V and 3.3V regulators |

| **Chassis** | 3D printed + lightweight aluminum/ABS custom frame |

| **Optional** | 6-DOF Robotic Arm (MG996R / Dynamixel motors) |

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## 💸 Estimated BOM (₹ INR)

| Item                        | Approx. Cost |

|-----------------------------|--------------|

| Jetson Orin Nano Super      | ₹25,000–28,000 |

| Raspberry Pi 5              | ₹7,000 |

| Arduino Mega + ESP32        | ₹1,500 |

| Intel RealSense D435i       | ₹15,000–20,000 |

| RPLidar A1                  | ₹10,000 |

| GSM + GPS Modules           | ₹1,500 |

| Emotion Display (LED/OLED)  | ₹2,000 |

| Motors + Wheels + Drivers   | ₹4,000–6,000 |

| Battery + BMS + Power Mgmt  | ₹3,500–4,500 |

| Chassis & Structure         | ₹8,000–10,000 |

| Misc Sensors, Wiring, PCB   | ₹3,000 |

| **Total**                   | **₹90,000–1,30,000** |

**About : 1,50,000 INR**

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## 💻 Software Stack

| Layer | Tools / Languages / Frameworks |

|-------|-------------------------------|

| **OS & Middleware** | Ubuntu 20.04 LTS (Jetson), Raspberry Pi OS |

| **Languages** | Python, C++, Bash, Arduino (C), JavaScript (web UI) |

| **AI/ML** | PyTorch, TensorFlow Lite, OpenCV, YOLOv8, ONNX |

| **Robotics** | ROS2 Foxy, RPLidar SDK, Jetson GPIO |

| **CV & Perception** | RealSense SDK, DepthAI, MediaPipe |

| **Voice Control** | Vosk / Whisper / Google STT |

| **Emotion Engine** | Custom expression-to-LED rendering logic |

| **Cloud/Comms** | MQTT, WebSocket, GSM API, GPS tracker |

| **Web UI (Optional)** | Flask / Node.js dashboard for remote monitoring |

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## 🧠 Core Features

- ✅ Real-time Object Detection & Tracking (YOLOv8)

- ✅ Emotion Display System (LED Matrix)

- ✅ Voice Command Execution (offline-capable)

- ✅ Mobility & Navigation with Lidar & Depth Cam

- ✅ Environment Mapping & Obstacle Avoidance

- ✅ Sensor Fusion with IMU + GPS + GSM

- ✅ ROS2 Integration for modular system design

- ✅ Data logging, remote diagnostics (via web dashboard)

- ✅ Modular design (sensor/arm additions possible)

---

## 🧬 Design Inspiration

- 🟢 **Wall-E’s** compact & expressive form

- 🔵 **NVIDIA's humanoid research robot (GTC 2025)** for futuristic, emotion-aware presence

- ♻️ Designed for modularity, extensibility & research-grade experimentation

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## 📏 Dimensions

| Part           | Size (approx) |

|----------------|---------------|

| Height         | 60 cm |

| Width          | 35 cm |

| Depth          | 30 cm |

| Wheel Base     | 25–28 cm |

| Emotion Display | 10x10 cm |

| Arm Length (opt) | ~25–30 cm |

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## 🔬 Research Domains It Touches

- 🤖 Robotics & Mechatronics

- 🧠 AI/ML & Real-time Inference

- 📍 SLAM & Autonomous Navigation

- 👁️ Computer Vision & Emotion Recognition

- 🗣️ Human-Robot Interaction (HRI)

- 🌍 Edge Computing & IoT Fusion

- 🧩 Multi-Agent Coordination (future expansion)

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## 🎯 Future Goals

- Integrate GPT-4 Vision or LLaVA-style perception models

- Add autonomous path planning & swarm logic

- Upgrade to custom-built PCB for cleaner internals

- Publish white paper on ASTRA’s system design

- Open-source ROS2 packages for education/research

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## 🧑‍🏫 Target Audience

- Professors & Researchers in AI/Robotics

- Labs like MIT CSAIL, Stanford AI Lab, ETH Zurich ASL

- Hackathons, Expo Showcases (e.g., Aero India 2026)

- Open-source robotics & edge-AI community

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## 🙋‍♂️ Built With ❤️ By

**M4YH3M-DEV**  

🔗 [GitHub](https://github.com/M4YH3M-DEV)  

🧪 BTech '28 | AI/Robotics/OS/LLMs | Building for the Future