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 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 |