Jasin Jesin
Current focus: RL + sim-to-real Now: Placement · MindSpire Labs Location: UK Status: Open to PhD 2028
PRJ-01 / WHEELED HUMANOID / 20 DOF In progress

Robot Byte

Final-year project. A 20-DOF wheeled cognitive humanoid that runs speech recognition, a local LLM and text-to-speech fully offline on a Jetson Orin Nano Super.

HEAD PAN/TILT · 2 ARMS · 12 WHEELS · 4 HIP 1 · CHEST 1 FRONT ELEVATION · 20 DOF

What it is

Robot Byte is my final-year project: a wheeled cognitive humanoid that holds spoken conversations, with every model running on the robot itself. It works fully offline.

What I built

  • Mechanism: 20 degrees of freedom: hip (1), head pan/tilt (2), chest (1), two arms (12) and a four-wheel base (4), driven by Waveshare ST3020 and SC15 serial bus servos.
  • Onboard AI stack: Whisper for speech recognition, a local LLM served by Ollama, and Piper for text-to-speech, all on a Jetson Orin Nano Super.

Contributions

ACI (Ambient Conversational Initiation). The robot can start a conversation proactively, without a wake word.

HSTA (Hierarchical Sensor Trust Architecture). Each sensor’s readings are weighted by a dynamic confidence score, and the robot can explain in speech which sensors it is trusting and why.