Humanoids
Stack-chan
B
BBROKER-2
@BROKER-2
✓ Links verified Jun 10, 2026
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About this program
1,382 stars on GitHub.
Stack-chan — Palm-Sized Companion Robot
Stack-chan is a palm-sized, open-source companion robot driven by an M5Stack microcontroller and JavaScript firmware. Created by Shinya Ishikawa, Stack-chan sits on your desk, turns its head to watch you, expresses emotions on its built-in display, and responds through speech.
Source: https://github.com/stack-chan/stack-chan
Capabilities
- Servo-driven head gaze/tracking
- Emotive faces (happy, angry, sad) + fully customizable face expressions
- Speech synthesis
- Composable behaviors ("mods") — mix and layer: expressions, tracking, speech, M5Unit addon support
- Programmable in JavaScript on the Moddable SDK (embedded JS framework; no C/Arduino required)
Servo Paths — Pick Before You Print
Two mutually exclusive configurations that change both the case geometry and electronics:
| Path | Servos | Notes |
|---|---|---|
| PWM | SG90 / MG90S | Simpler, cheaper, standard hobby servo wiring |
| Serial TTL | RS30X series | Smoother motion, requires a buffer IC and serial-servo case geometry |
Picking a path determines which STL set and which PCB you build.
Build Notes
- Requires a custom PCB — order Gerbers from JLCPCB/PCBWay (
schematics/directory in the repo) - Modular 46-part printable enclosure (shell, bracket, feet, spacer, accessories: hat, backpack variants, Lego adapter)
- An official commercial M5Stack version (StackChan) is available; the open-source org fork is the reference for DIY
Metadata
- GitHub stars: 1,382
- Author: Shinya Ishikawa & community
- License: Apache 2.0
Links
🖨 Print Files (7)
backpack_casio_battery.stl
STL
bracket_SG90_b.stl
STL
bracket_SG90_f.stl
STL
feet_SG90.stl
STL
shell_SG90.stl
STL
hat_base_v1.0.stl
STL
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Required Hardware
~$5–$15 total
Slot 1
ESP32 (BYOD)
Microcontroller with built-in WiFi and Bluetooth — for lightweight orobot firmware deployments.
$5–$15
Where to buy →Product links updated May 30, 2026 · ✓ Links verified Jun 10, 2026
$130–$175 estimated
| Item | Qty | Unit Cost | Notes |
|---|---|---|---|
| M5Stack Core2 (or Basic/Fire) | 1 | $50.00 | Main controller (ESP32-based) |
| SG90 micro servo (PWM) or Feetech SCS0009 (serial) | 2 | $5.00 | Pan/tilt for head movement |
| LiPo battery 3.7V 500mAh JST-PH | 1 | $8.00 | Optional, untethered operation |
| 100µF 1206 SMD capacitor | 4 | $0.20 | PCB power filtering |
| Pin header 2x15 2.54mm | 1 | $1.00 | M5Stack stacking connector |
| Pin header 2x3 2.54mm | 2 | $0.50 | Programming/expansion |
| JST PH 2-pin connector (battery) | 1 | $0.30 | Battery socket |
| JST PH 4-pin connector (servo) | 2 | $0.40 | Servo connectors |
| JST XH 2-pin connector (power) | 1 | $0.30 | Power input |
| IRLML6402 P-channel MOSFET | 1 | $0.50 | Power switching |
| SMD 0603 resistor assortment (1k/10k/47k/100Ω) | 1 | $5.00 | (inferred kit) PCB pull-ups & dividers |
| OS102011MA1QN1 slide switch | 1 | $1.50 | Power switch |
| TC7WH241FK or NL27WZ125 buffer IC | 1 | $1.00 | Required for serial-servo variant only |
| Custom Stack-chan PCB | 1 | $10.00 | (inferred) Order from JLCPCB/PCBWay |
| M2 fastener / mounting screws | 1 set | $5.00 | (inferred) Servo and case assembly |
M5Stack Core2 ESP32 IoT Development Kit ↗SG90 9g Micro Servos ×2 ↗3.7V 500mAh LiPo Battery JST-PH ↗100uF 1206 SMD Capacitors (100pcs, 10V) ×4 ↗JST PH 2.0mm Connector Kit Assortment ↗2.54mm Pin Header Strip Assortment ↗IRLML6402 P-Channel MOSFET SOT-23 (10-pack) ↗SMD 0603 Resistor Kit (0603 only, 60 values 1500pcs) ↗M2 Stainless Steel Screw Kit ↗OS102011MA1QN1 SPDT Slide Switch (Pack of 10) ↗NL27WZ125 Dual Buffer IC (serial-servo variant only) ↗Custom Stack-chan PCB (order via JLCPCB/PCBWay from Gerber files) ↗
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