Onboard motion controler

EMYS controller gives the user unified access to all of the robot's components. It allows communication with all of the robot's drives and touch sensors using Dynamixel protocol. The controller boasts an USB hub which provides access to both the head drives and the on-board RGB camera and microphone via a single USB connector. It takes care of generating all the different voltage levels necessary for proper operation of various head components eliminating the need for multiple external power sources. The controller consists of two boards stacked on top of each other, as shown in Fig. 1. 

on board
Fig. 1 Complete onboard controller.


  • Freescale Semiconductors MK40DN512VLK10 MCU,
  • Arm Cortex M4 @ 100MHz,
  • 512KB flash,
  • 128KB RAM,
  • low-power hardware touch sensor interface,
  • 4 channel servomotor control with current measurement,
  • 2 channel DC motor control with position and current measurement,
  • RTC with battery backup,
  • USB and RS485 communication,
  • on-board USB 2.0 hub,
  • Power, error and communication indicators,
  • Freescale MQX RTOS

Check latest hardware upgrade LINK.


Master PC controller

Master PC controller comes in several possible options:

advantech mini  mac mini
brix mini

Fig. 2 Advantech DS-60, Apple Mac Mini, Gigabyte BRIX Pro (click to enlarge).

First option is based on Advantech DS-060 multimedia computer, second utilizes Mac Mini and the last one is Gigabyte BRIX Pro. All options share the technical specification detailed below.


  • 3rd/4th Generation Intel Dual or Quad Core i7 Platform,
  • 8GB Memory (DDR3 1333/1600MHz),
  • min. 120GB SSD disk,
  • embedded graphics (Intel® HD Graphics),
  • Gigabit LAN controller (Intel 82579LM),
  • Audio Line-Out and Mic-In,
  • Wireless LAN (optional),
  • 2x USB 2.0,
  • 2x USB 3.0,
  • 1x 2.5-inch SATA II,
  • 1 x full-size mSATA. 



EMYS and FLASH are Open Source and distributed according to the GPL v2.0 © Rev. 0.9.2, 23.11.2017

FLASH Documentation