Robotic Hand v1.3.2

ESP8266 OLED-Based 4-Axis Robotic Hand – v1.3.2

A proof-of-concept 4-axis robotic hand driven by cost-effective MG90/SG90 servos, combining a polished local GUI with remote web control for flexible industrial-style operation.

Key Features:

Dual Control Interfaces

Local OLED GUI (128×64 I2C): icons, text, loading animations and a hierarchical menu for selecting pre-programmed motions.

Web API: HTTP endpoints for real-time remote operation and preset functions.

Open-Loop Position Estimation

Software tracks each axis (posX, posY, posZ, posG) to mitigate abrupt movements despite the lack of onboard servo feedback.

Modular Motion Primitives

Simple axis-specific functions (moveX(from, to), moveY(from, to), etc.) enable rapid development of complex gestures and sequences.

Lightweight, Cost-Effective Design

Uses readily available MG90/SG90 servos and an ESP8266 microcontroller to keep hardware costs low without sacrificing performance.

Getting Started

Clone the repository.

Install dependencies via the Arduino Library Manager:

Adafruit_SSD1306

Adafruit_GFX

ESP8266WiFi

ESP8266WebServer

Servo

Update your Wi-Fi credentials in the sketch (ssid/password).

Upload to an ESP8266-based board and power your servos.