Ainekio as a Companion: Personality, Memory and Learning
Meet the robot familiar: how conversation, perception, personality, memory, inner activity and autonomous goals are intended to work together.
Understanding AinekioAinekio documentation
Article library
59 articles
References first, then journal entries.
Original Ainekio: the Eight-Servo Build Journal
The original Google Docs posts, restored in full: parts, firmware, software, design decisions, and the experiments that preceded the eight-servo robot.
Original eight-servo robot
Ainekio V1 and V2: Eight Servos Versus Twelve
Eight versus twelve servos: motion generation, measured feedback, processors and the current 650 g V2 battery/charger assembly, alongside dated motion ranges.
Understanding Ainekio
Gait Development Journal: From Eight Servos to Twelve
Gait and motion journal: V1/V2 geometry, loaded walking comparisons, Freestyle targets, measured shaft arrival and the latest Stand-training results.
Legs & gait
Ainekio V2: Parts, Assembly, and Design Iterations
Current V2 hardware: 650 g assembly, 2S battery and USB-C charger, compact linkage geometry, feedback servos, training stand and dated physical trials.
Chassis, shell & power
Ainekio: Project Overview
Meet Ainekio, a robot familiar combining conversation, personality, memory, perception and physical action, with two body designs and a continuing build journal.
Understanding Ainekio
V1 Hardware and Body Design
The eight-servo robot, its documented components and wiring, enclosure history, and the move to V2.
Original eight-servo robot
ESP32-S3 Controller Firmware
Motion, camera, audio, provisioning, storage, and recovery on the current eight-servo controller.
Original eight-servo robot
Robot Commands and Safety
How commands are validated, how results are reported, and how the robot handles interruption and connection loss.
Firmware & connections
Gateway and Operator Dashboard
Body Control connections, event and leveling settings, SD video, Wi-Fi maintenance, and the retained command-recovery record.
Firmware & connections
Camera and Visual Feedback
When Ainekio takes pictures, how they reach MetaHuman, and how an image is used to check a robot objective.
Vision, face & voice
Listening and Speech
Microphone capture, wake detection, transcription, speech playback, and the remaining room tests.
Vision, face & voice
MetaHuman OS: Robot Integration
Body-event decisions, live IMU status, specialist planning and saved requests connected to Ainekio’s action results.
MetaHuman OS
Robot Autonomy Modes
Reactive, Semi, and Full behavior, result-driven choices, and how finite Desire plans give robot work a verifiable end.
MetaHuman OS
Freestyle runs once: finite motion, recovery and a supported stretch
The new finite-event motion model, 339-example continuation, real-event recovery and a supported stretch trial with all nine positions verified.
Legs & gait
650 g, revised power packaging and a training stand
The current Blender assembly, battery and charger dimensions, printable support stand, and supported Stand/Walk firmware trials.
Chassis, shell & power
Freestyle: teaching targets, speed and recovery
Editable motion examples, compact Qwen inference on the Q6A, measured shaft arrival, and the October 26 Stand-training results.
Legs & gait
MetaHuman: keeping an intention through its results
Full Auto can continue existing work and request relevant memory; live trials expose the remaining initiative gap. Queue and on-demand model changes reduce avoidable overhead.
MetaHuman OS
The rebuilt body: a new face, measured standing and powered continuity
New photographs show Ainekio's revised face and shell. Ground repair, final-pass Stand verification and connection-loss handling improve the body-control foundation.
Chassis, shell & power
Learning from real walking: trials, feedback and a live training loop
Ainekio now records ordinary walking, compares learned Walk and Run policies, and exposes learning history. Physical trials show modest tracking gains with important limits.
Legs & gaitFaster body reactions and cleaner recovery in MetaHuman OS
A dedicated one-call tip/shake workflow, motion-aware event classification, completed-work recovery repairs and connected-recipient admission keep body events tied to real work.
MetaHuman OS
MetaHuman update: trained 2B specialists and clearer task outcomes
Trained 2B Intent and Task models, experimental 9B autonomy, monitor performance repairs, and live tests of camera freshness and conversational memory.
MetaHuman OS
Listening to the servos: feedback wiring and a rebuilt chassis
Twelve modified servos, a CD74HC4067 multiplexer, measured-position tools and revised chassis parts give Ainekio a way to check what its joints actually did.
Chassis, shell & power
A more connected companion: agency, memory and one voice
How Active Operator, model categories, attributed memory and Desire review connect to task execution, with Persona now responsible for the spoken reply.
MetaHuman OSTesting 9B learning for autonomy and personality
Two small remote LoRA diagnostics tested autonomy and conversational personality, including actual serving comparisons. Neither candidate qualified for deployment.
MetaHuman OSGiving movement a goal and evidence of arrival
MetaHuman's new locomotion contract connects distance, turn, approach, follow and visual goals to measured progress, with signed lateral control on the P4.
Firmware & connectionsMore expressive motion and clearer self-leveling controls
Revised Walk, Run, Crawl, Crab and seated Wave, plus a level reference, per-leg feedback and stationary gyro calibration in Body Control.
Legs & gait
The body can start a conversation
Wake, tilt and rapid-movement events now travel from Body Control to a dedicated MetaHuman workflow, with editable detection settings and model-selected reactions.
MetaHuman OS
Video on the robot, firmware updates over Wi-Fi
Body Control gains SD video recording and downloads, staged P4 firmware updates, robot logs and a measured short Wi-Fi recovery run.
Firmware & connections
Teaching the Task model what to say and what to move
Two new 0.8B Task LoRA candidates address speech/action confusion. Both improve aggregate scores; neither replaces the deployed adapter after qualification.
MetaHuman OSStartup, self-leveling and the real leg geometry
A staged startup rise, saved self-leveling controls, a 566 g build report and a geometry calculator, with installed firmware separated from loaded-motion results.
Legs & gait
Shell Printing, Weight Changes, and a 4 A Supply
Exterior printing has begun. Follow the Blender shell and camera-mount exports, the new power-supply direction, and revised foot placement for Lay Down and Play Dead.
Chassis, shell & power
Training the Intent Orchestrator and Task Manager
Qwen 0.8B specialists, node-workflow changes, computer-task delegation and a side-by-side record of a rejected goal-planning candidate.
MetaHuman OS
YOLOE: From Person Detection to Selected Targets
A desktop YOLOE pilot now searches and tracks using the robot camera. Follow the live chair result, exact-frame selection, model limitations, and remaining integration work.
Vision, face & voice
A Face on the Robot: Display, Camera, and Voice Progress
The physical robot has an illuminated wide LCD. Explore actual renderer previews, recorded camera and speaker checks, and the expression and speech work still in development.
Vision, face & voice
Responsive Commands, Separate Conversation, and Connection Choices
MetaHuman now separates request routing, task planning and conversation. Body Control gains connection choices, while perception and speech refinements remain under review and Active Operator is untested on the robot.
Firmware & connections
Standing, Walking, and Responding to Commands
The revised twelve-servo robot can stand, walk and respond to commands. A current build photograph, the October 6 comparison, and the latest mounting-part exports.
Legs & gait
Shorter Carriers, the Same Repertoire: Reworking 23 Motions
The 35 mm carrier candidate has a complete offline motion library, with explicit changes to foot placement, reduced Upright reach and unresolved servo travel.
Legs & gait
A Lighter Rebuild After the Standing Test
The printed chassis could not stand on its MG90 servos. The next iteration keeps those servos, removes weight, replaces the battery bank and revises the legs.
Chassis, shell & power
Steering, Sensing and Keeping the Robot Connected
Continuous steering, camera profiles, recognition interfaces and an IMU estimator have progressed. Live balance control and sustained wireless reliability still need work.
Firmware & connections
Q6A, chassis work, and a more active loop
Q6A integration, the revised Ainekio v2 chassis, and the first pieces of a more active perception and control loop.
Chassis, shell & power
Compact Wireless Body: Battery Clearance, Face and Assembly
Independent Wired and Wireless Blender designs, an 82.5 mm Wireless frame, revised front-leg placement, rear carrier relief, a fitted LCD carrier and assembly reference marks.
Chassis, shell & power
Two Builds: Wired, Wireless and ROS 2 Integration
Ainekio splits into an onboard-Q6A Wired build and an offboard-Q6A Wireless build. ROS 2, local IMU feedback and the new battery budget have distinct implementation stages.
Firmware & connections
Refining the body and fitting the Anker battery
A red shell, revised mask mounts, reinforced printed tabs and an 80 mm chassis placement: fitting a removable 10,000 mAh Anker bank beneath Ainekio V2.
Chassis, shell & power
Narrowing the Chassis and Making Room for the Face
The 103-to-51.2 mm chassis revision, board-clearance measurements, and a camera-cable recess moved beneath the face.
Chassis, shell & power
Compact Legs: Geometry, Print Faces and Horn Fit
Comparing the 24/41/60 and 22/36/55 mm legs, retaining tested articulation, and correcting a horn cavity after a failed printed fit.
Legs & gait
Developing the Shell Around the Mechanism
Ainekio's evolving face, collar, roof and fins, with actual CAD views and a record of accepted and rejected design iterations.
Chassis, shell & power
September 15: From CAD to Printed Leg Prototypes
Printed leg prototypes with expressive movement, revised linkage geometry, horn pockets sized from real hardware, and fit lessons for the next iteration.
Legs & gait
September 10: Fitting the V2 Body Together
Fourteen CAD revisions: chassis, electronics, linkages, covers, and a camera/display carrier, with a brief MetaHuman OS refinement update.
Chassis, shell & power
Three Short-Rod Leg Mechanisms: What the CAD Tests Found
A direct pushrod, a supported relay yoke, and an offset cascade compared by rod length, modeled range, pose coverage, and interference.
Legs & gait
September 9, 2026: Robot Workflows and V2 Planning
Saved workflows, robot-command recovery, finite Desire plans, and the latest live-run evidence alongside the V2 hardware work.
Understanding Ainekio
V1: Original Firmware Notes
The July ESP32-S3 firmware record: eight servo outputs, startup, safety, media, and build steps.
Original eight-servo robot
V1: Original Software and MetaHuman OS
The original software architecture, cognition, command bridge, validation, and development plans.
Original eight-servo robotV1: Original Parts Overview
The original eight-servo parts, power, wiring, fitment, and shopping-list document.
Original eight-servo robot
V1: Broad Strokes — July Status
The original July 10 progress snapshot and reading map, preserved as an early project record.
Original eight-servo robot
V1: Original Design Discussion
Original design deliberations: controller alternatives, power, communications, fitment, and early Generation 2 candidates.
Original eight-servo robot
July 2026: The Virtual Environment Bridge
Historical notes on the early Megameal conversation bridge, its test results, and its original implementation.
Original eight-servo robot
July 2026: The Retired Simulator Experiment
The unsuccessful simulator project: its original command bridge, discarded hardware plans, and reported July tests.
Original eight-servo robotV1: Original Robot Familiar Introduction
The original project introduction, its ambitions, MetaHuman brain, firmware boundary, and Sesame-derived body.
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