Voice-Controlled Robot With the ESP32

Build your own voice-controlled robot - all you will need is an ESP32 and Microphone board (and some motors etc...).

You can watch a video of the robot in action here (YouTube):

I'm using a microphone breakout board that I've built myself based around the ICS-43434 - but any microphone board will work. The code has been written so that you can either use an I2S microphone or an analogue microphone using the built-in ADC.

I would recommend using an I2S microphone if you have one as they have a lot better noise characteristics.

My board is available on eBay and Tindie

Other I2S microphones are equally suitable. Boards based around the INMP441 work very well.

The voice recognition is carried out using a model trained with TensorFlow and runs on the ESP32 using TensorFlow Lite. A pre-trained model is included in the Firmware folder so you can get up and running straight away.

There are two folders in this repo model and firmware check the README.md file in each one for complete details.

Model

Jupyter notebooks for creating a TensorFlow Lite model for "wake word" recognition.

A pre-trained model has already been generated and added to the firmware folder.

If you want to train your own, I added a couple of extra folders to the training data they are available here:

Firmware

ESP32 firmware built using Platform.io. This runs the neural network trying to detect the words Left, Right, Forward and Backward.

The code assumes there are two continuous servos attached to the board such as the FS90R servo - these are readily available from various suppliers and you can normally buy them with wheels as well.

3dPrinting

This contains the 3d models that I used to build my 2 wheeled robot. It's designed around the FS90R continuous servos and a cylindrical power bank.