International Journal of Robotics and Automation in Mechanics Review Article
Design and Implementation of Basic Hand Move-ment for Departmental Information Robot Using Servo Motors
Abstract
This paper presents the design and implementation of a basic hand-movement subsystem for a departmental information robot using servo motors. The proposed architecture combines an ESP32 microcontroller, a PCA9685 16-channel 12-bit PWM driver, high-torque digital servo motors, and a Jetson Nano for high-level command processing. The ESP32 acts as the low-level controller, while the PCA9685 generates synchronized PWM signals for multiple servos through the I²C interface. The Jetson Nano is intended to process high-level inputs such as voice or gesture commands and transmit the corresponding movement commands to the ESP32. The main contribution is a modular control architecture for a departmental information robot, where predefined hand gestures can be mapped to meaningful actions such as greeting, indicating directions, and conveying simple information. The paper describes the system architecture, hardware components, control sequence, and experimental evaluation procedure. Because the supplied manuscript did not contain recorded system-level accuracy or response-time measurements, no unsupported numerical performance values are claimed; instead, a reproducible measurement protocol and comparison framework are provided.
Keywords
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