The ready-to-order Gerber and parts list files for the servo board are still listed as coming, so a from-scratch build needs KiCad work or a purchased board.
Stack-chan is a small desktop companion robot built around an M5Stack ESP32 controller whose screen shows an animated face, with two servos that pan and tilt the body. Its JavaScript firmware supports user MODs, a browser simulator and block editor, and voice chat with AI services.
At a glance
| Parts cost | $150–$180 estimated How Estimated for this page from current retail prices (2026-10-02) of the parts in the project parts list source ↗ Build priced Case v1.0 with two Dynamixel XL330 servos and an M5Stack CoreS3, self-printed case Not included 3D printing, tools, shipping, tax Ready-made $100, preassembled M5StackChan AI Desktop Robot sold by M5Stack, which the README recommends as the starting point source ↗ |
|---|---|
| Difficulty | 2/5 Easy · Two servos and a small printed case, but the custom board and servo ID setup add steps. |
| Build time | Not stated |
| Tools needed | 3D printer (small case, a few hours; printing services suggested as an alternative), PCB order or kit board, U2D2 or similar adapter to set Dynamixel IDs |
| Motors | 2 servos, Dynamixel XL330 (case v1.0) or SG90 / SCS0009 / RS30X (case v0) |
| Controller | M5Stack CoreS3 (ESP32-S3) plus the Stack-chan servo board |
| Sensors | CoreS3 camera, microphone, IMU and touch screen |
| Published | ✓ Parts list✓ CAD/STL✓ Assembly guide✓ Wiring✓ Software✓ Video GitHub markdown guides (case v0 and v1), KiCad schematics, browser tools site; parts lists are inside the case guides |
| Activity | Last update 2026-09-30 · 1,743 GitHub stars · Discord; 231 forks; active #stackchan community in Japan |
| Kits | M5StackChan from M5Stack ($99, or $125 with remote), body and core also sold separately |
Licenses
| Design files | Apache-2.0 (README says all resources in the repo, including case STL/STEP and KiCad board files, are under Apache-2.0) source ↗ |
|---|---|
| Code | Apache-2.0 source ↗ |
| Documentation | Apache-2.0 (same statement) source ↗ |
Builder notes
Practical points from the project's issue tracker, forum and docs, each linked to its source.
- The README now points first-time builders to the preassembled M5StackChan and treats self-building as a secondary path. source ↗
- There are two case generations. Case v0 targets SG90, SCS0009 and RS30X servos with an older v0.2.1 board, while case v1.0 currently supports only Dynamixel XL330. source ↗
- The schematics page lists Gerber, parts list and placement files for ordering assembled boards as links still to be added, and its parts list as under construction, so board ordering takes some KiCad work. source ↗
- The project warns that SG90 servos can overheat and even smoke if driven past the case's physical limits, and that their inrush current can brown out the M5Stack. source ↗
- Builders using the Feetech GUI to set SCS0009 IDs are told not to press Recovery, which has left servos unusable. source ↗
Other other plans
- LeLamp robot lamp · $310 · difficulty 3/5
- ESP-Drone (Espressif) · — · difficulty 4/5