Final Project: Expressive Robotic Arm Lamp
My final project is an expressive robotic arm lamp inspired by Pixar-style desk lamps and recent research on non-anthropomorphic robot behavior. The system combines mechanical motion and light interaction to create a lamp that is both functional and emotionally expressive.
Project Overview
What is this project?
This is a robotic arm lamp pet that lives on your desk. It is more than just a light — it behaves like a small living companion. It senses its environment, understands where you need light, and actively points itself toward the right spot. At the same time, it expresses its "mood" and "attention" through movement and light changes.
You can interact with it: when you approach, it turns to face you; when you point at a surface, it recognizes the gesture and directs its beam there; when you have been away for a while, it settles into a resting posture. It responds to touch and gesture commands, reacting the way a small pet would.
Key Features
- Smart lighting: Detects the user's position and automatically adjusts the beam angle for optimal illumination.
- Gesture and touch interaction: Control movement and brightness through touch or simple hand gestures.
- Expressive motion: Pet-like body language — nodding, turning, leaning — communicates the lamp's current state.
- Ambient awareness: Senses surrounding light levels and adapts brightness accordingly to save energy.
- Personality modes: Switchable modes such as Focus, Relaxed, and Sleep that change both motion and light behavior.
Who is it for?
- Desk workers and students: Anyone who spends long hours at a desk and wants smart, adjustable lighting that follows their needs.
- Tech and design enthusiasts: People interested in robot aesthetics and human-machine interaction who want a functional yet playful desktop object.
- People who enjoy companionship: A lamp with a sense of life adds warmth and character to any workspace or room.
- Makers and educators: A hands-on prototype for learning about robotic motion, sensor integration, and interactive product design.
Project Concept
I plan to build a multi-axis robotic lamp using an ESP32-based controller, servo motors, and custom mechanical parts designed in Fusion 360. The structure will be fabricated through 3D printing and laser cutting.
The design direction is a giraffe-like silhouette with approximately 5 degrees of freedom (5-DOF). Besides basic movement, I want to focus on expressive motion quality: smooth transitions, attentive turns, and posture-based interaction.
Research and References
Apple’s ELEGNT research on expressive and functional movement for non-anthropomorphic robots is a key reference for this project. It shows how movement can communicate intent and personality, not only execute tasks.
I also studied open-source projects such as LeLamp and other Luxo-inspired robotic lamps. These references are useful for practical mechanism design, servo layout, and reproducible maker workflows.
Modeling and Prototyping
I practiced by reviewing and partially replicating the LeLamp structure to understand joint arrangement and servo requirements. This helped me estimate the number of servos and validate assembly feasibility for my own design.
Next, I will finalize my own parametric CAD model, optimize each joint for stable motion, and integrate mounting points for electronics and wiring.
Planned System Architecture
- Controller: ESP32 (XIAO ESP32S3 or equivalent)
- Actuation: multiple servos for neck, head, and body joints
- Output: directional lamp movement and light behavior
- Input: button/sensor-based interaction triggers
- Fabrication: 3D-printed parts + laser-cut structural parts
Materials (Draft BOM)
| Qty | Description | Estimated Price | Notes / Link |
|---|---|---|---|
| 1 | XIAO ESP32S3 (or equivalent ESP32 board) | TBD | Main controller |
| 4-6 | Servo motors (SG90 / MG90S class) | TBD | Depends on final DOF configuration |
| 1 | LED lamp module / high-brightness LED | TBD | Lighting output |
| 1 set | 3D-printed and laser-cut mechanical parts | TBD | Custom structure |
| 1 | Power supply and wiring set | TBD | Stable servo and controller power |