KenmaroKenmarokenmaro.about.me

kenmaro.about.me

Prototype your idea

to the real world

A personal base for software, indie products, hardware, and robotics experiments.

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About

Kenmaro

kenmaro

Software Developer

Background

ソフトウェアエンジニアとして仕事をしつつ、個人ではハードウェアDIY、ロボット、センサー、 ESP32、3Dプリントを試しながら学んでいます。

このサイトでは、完成品だけでなく途中の失敗や改善も含めて、個人の制作ログとして残していきます。

Focus

  • Web / Infrastructure / AI Engineer
  • Mobile App Developer
  • Blog / Hackathon Lover
  • Challenging New Things

Hardware / Creator

  • 小型ロボット
  • Arduino / ESP32 / Raspberry Pi
  • センサーと制御の試作
  • 3Dプリントによる試作改善
  • YouTube制作物の補足記事

Hardware

Hardware for personal robotics, wearables, and custom CPU / OS projects.

IMUs & motion sensors

MPU-6050

6-axis IMU
rover-slam

Rover acceleration and angular velocity input for stereo-inertial experiments.

LSM6DS3TR-C

Onboard IMU
ankle-wearable

The IMU on XIAO Sense, read directly for a motion logger intended to be worn on the ankle.

Cameras & optical sensors

IMX296

Camera sensor
rover-slam

Stereo cameras connected to Raspberry Pi for image capture, calibration, and SLAM experiments.

MAX30102

Optical PPG sensor
ankle-wearable

Red and infrared PPG capture, fingertip pulse measurement, and ankle measurement experiments.

MH-ET LIVE module

Distance sensors & LiDAR

RPLIDAR A1M8

2D LiDAR
rover-slamlidar_slam_proto

A scanning distance sensor used on the rover and connected to a Mac to capture data for LiDAR SLAM.

Livox MID-360

3D LiDAR
rover-slam

Rover 3D point cloud and built-in IMU packet reception on Raspberry Pi.

HC-SR04

Ultrasonic distance sensor
spidar-sg90

A forward-facing distance sensor in the four-legged robot setup, wired to Nano and supported by the calibration tool.

Wiring and firmware; hardware operation unverified

Motors & drivers

JGA25-370

DC gear motor
rover-slam

Rover wheel drive with four geared motors and encoder feedback.

12V / 60rpm · with encoders

BTS7960 / IBT-2

Motor driver
rover-slam

Rover DC motor speed and direction control through Arduino PWM.

SG90

Micro servo
spidar-sg90

Nine servos for a four-legged robot’s legs and neck, with a PC calibration tool and walking control code.

Wiring and firmware; hardware operation unverified

FPGA

Cmod A7-35T

Artix-7 FPGA board
custom-os

Custom RISC-V CPU and OS validation, with kernel output over USB UART compared against the simulator.

XC7A35T-CPG236-1

PYNQ-Z2

Zynq-7020 FPGA board
custom-os

Custom CPU and OS validation, using ILA to capture PL-side UART for kernel, MMU, and Ethernet MAC checks.

XC7Z020-CLG400-1

ZedBoard

Zynq-7020 FPGA board
custom-os

Connected to the custom-os development setup, with FMC camera input and image-processing configurations under exploration.

XC7Z020-CLG484-1 / camera input unverified

MCUs & boards

XIAO nRF52840 Sense

MCU board
ankle-wearable

Battery-powered ankle IMU logging, flash storage, and USB data retrieval.

nRF52840 / P25Q16H QSPI flash

XIAO ESP32S3 Sense

MCU board with camera
seed_proto

USB camera capture, MQTT streaming, browser display, and Wi-Fi/BLE prototyping.

Camera model awaits hardware identification

Raspberry Pi 5

Rover computer
rover-slam

Rover camera and LiDAR host for ROS 2 and SLAM, including power and sensor integration checks.

v1 is an experiment archive, including failures

Arduino Mega / UNO / Nano

Control MCU boards
rover-slamspidar-sg90

Motor control for the rover and servo calibration for the four-legged robot, using different boards across iterations.

Rover v1: Mega / later setup: UNO / quadruped: Nano

Images are illustrations of the parts.

Firmware prototypes

Code implementations; hardware operation unverified.

PCA9685

Arduino / sketch_arm

An arm bridge controlling two PWM boards from UART.

nRF24L01

Arduino / nRF24L01_1・2

Code to transmit joystick input for arm and rover control.

RP2040 / ICM-42688P

sync_proto

A sync hub implementation combining camera triggers, VSYNC, and IMU input.

Who I am in 4 Lines

  1. 1

    Web / Infrastructure / AI Engineer

    様々なアプリケーション開発をフリーランスとして開発しています。

  2. 2

    Mobile App Developer

    個人開発プロジェクトを通じてモバイルアプリの開発に取り組んでいます。

  3. 3

    Blog / Hackathon Lover

    ブログや、ハッカソンを通じていろんな技術をアウトプットしています。

  4. 4

    Challenging New Things

    自分のやりたいことに制限を設けず、日々チャレンジしています。

programming_picture

A Blender home modeling piece I made earlier

And now: Hardware / Prototyping

This site is also where I will gradually publish build logs around hardware DIY, ESP32, robotics, sensors, and 3D printing.

Personal Projects

SLAM / slam_proto

SLAM / slam_proto

Monocular & stereo Visual SLAMCamera-based localization and mappingC++ implementation and dataset evaluationIn development
VoiceProto (iPhone / Watch)

VoiceProto (iPhone / Watch)

Recording, transcription, and meeting notesiPhone and Apple Watch recording workflowOn-device and cloud processing prototypesIn development
custom-os

custom-os

Custom RISC-V CPU, OS, and C compilerSimulator and FPGA hardware validationAI accelerator design and implementationIn development

Hardware Projects

@kenmaro-prototyping

YouTube Channel

Right now the channel is mostly about software-side prototyping, especially mobile apps and web apps. Hardware DIY and robotics content will be added next.

  • Current uploads are mainly mobile and web app prototypes
  • The channel currently focuses on software-side prototyping
  • Hardware and robotics content will be added next
YouTube Channel

Blogs

The older Qiita and note links stay visible here.

281articles on Qiita
48articles on note
Browse all posts

YouTube

The current uploads are still mostly software-focused, especially prototype work around mobile apps and web apps. Hardware-focused videos will be added later.

Open channel
YouTube

@kenmaro-prototyping

Right now this channel is mostly for mobile and web app prototype videos. Hardware content will be added here next.

Open channel