Gesture Control Robot

About the project

It is a gesture-controlled robot which is controlled by sending commands from an M5Stack ESP32 board.

Project info

Difficulty: Moderate

Estimated time: 1 week

License: GNU General Public License, version 3 or later (GPL3+)

Items used in this project

Hardware components

M5stack AWS IoT EduKit M5stack AWS IoT EduKit x 1
DC Geared Motor Wheels DC Geared Motor Wheels x 2
DC Geared Motors DC Geared Motors x 2
L298N dual-channel H-Bridge motor driver L298N dual-channel H-Bridge motor driver x 1
DFRobot FireBeetle ESP32 IOT Microcontroller (Supports Wi-Fi & Bluetooth) DFRobot FireBeetle ESP32 IOT Microcontroller (Supports Wi-Fi & Bluetooth) x 1

Software apps and online services

Arduino IDE Arduino IDE



I always wanted to work on a gesture-controlled robot that can be controlled by my changing the orientation of my hands.

I used an M5Stack ESP32 board which contains an in-build IMU sensor for detecting the gestures. The gestures are detected using the accelerometer. The acceleration in the X and Y axis data are send to the onboard EPS32 of the robot using the ESP-NOW protocol.

Components Used

M5Stack AWS IOT Edukit Core2

The Core2 for AWS comes with an ESP32-D0WDQ6-V3 microcontroller. The main unit is equipped with a 2.0-inch capacitive touch screen that provides a smooth and responsive human-machine interface. It also comes with an MPU6886 which provides a 6-axis internal IMU.

I have used the IMU and the Screen for this project. The accelerometer of the IMU is used to get the tilt direction of the M5stack device.


Circuit Connection

ESP 32 Pins < -- > L298n Motor Driver

GPIO 14 < -- > Motor 1 PWM

GPIO 27 Motor 1 IN1

GPIO 26 < -- > Motor 1 IN2

GPIO 25 < -- > Motor 2 IN3

GPIO 33 < -- > Motor 2 IN4

GPIO 32 < -- > Motor 2 PWM

ESP-NOW Protocol

I have used the ESP-NOW protocol for sending the Data from the Edukit to the ESP32 for controlling the robot.

I have used the One-way Communication of ESP-NOW Protocol for sending the data. This configuration is very easy to implement and it is great to send data from one board to the other like sensor readings or ON and OFF commands to control GPIOs.

Project Video

Schematics, diagrams and documents





Photo of nilutpolkashyap


A multidisciplinary engineering graduate with expertise in designing and building intelligent robotics systems. Profound knowledge in ROS, SLAM, Path Planning, Motion Planning and Computer Vision. Have a systematic approach towards research with experience in technical documentation aiming to carry out high impact research work.


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