Software Description

The software has the technical characteristics
Go to Navigation, localization and mapping

Navigation, localization and mapping

ROS stack navigation with EBand local planer

Go to Platform


ROS Kinect kame under Ubuntu 16.04 OS

Go to Face detection and recognition

Face detection and recognition

Speech Recognition end and synthesis: Google speech recognition and Google text to speech API

Go to Speech Recognition

Speech Recognition

Google speech recognition

Object Recognition

SIFT (Scale-Invariant Feature Transform) and SURF (Speeded Up Robust Features) OpenCV Algorithms

Arm control

Inverse Kinematic implemented on ROS own packages

The robot is made up of custom hardware modules for home assistance. The head and manipulator mechanical system were developed by the RoboFEI Team researchers. A sensors and actuators sets provide the success of the robot's actions. See the hardware description.


RoboFEI @Home is a Brazilian robotics team that was created with the purpose of participating in RoboCup in the @Home category - Open Platform League [OPL].
RoboFEI @Home is the current Latin American and Brazilian Robotics champion in @Home category.

HERA (Home Environment Robot Assistant) is a robot created by RoboFEI@Home crew. It was designed to perform human-robot interaction and cooperation tasks. HERA counts with a series of sensors to aid in mapping and navigating the environment, as well as recognizing the human silhouette, individuals by their faces and objects and a gripper, designed and manufactured by the team, that allows the robot to interact with the environment. HERA was developed in 2015 as an initiative of the Human-Robot Interaction area in FEI robotics projects. The goal of the project is to support people in homes, such as assisting the tasks of people with low mobility. Coordinated by Plinio Thomaz Aquino Jr., the project counts on the work and research of undergraduate students of the courses of Computer Science, Mechanical Engineering, Electrical Engineering, Automation and Control Engineering and students and professors of the masters and doctorate in Electrical Engineering of Centro Universitário da FEI.

  • Latin American and Brazilian Robotics Competition 2017

  • Latin American and Brazilian Robotics Competition 2016

  • Robocub 2018 Montreal and RoboCup 2016 Leipzig

  • Latin American and Brazilian Robotics Competition 2015


The team was created in 2013 for Human-Robot Interaction studies. The first robot was created in August 2015. The team has undergraduate and graduate students in computer science, electrical engineering, mechanical engineering and automation and control engineering.


Professor – RoboFEI (Leader @Home)
Professor and researcher of Human-Robot Interaction and applied Artificial Intelligence. Professor at FEI since 2003. Master’s and doctoral advisor.

Fagner Pimentel

B. Sc in Information Systems, M. Sc. in Computer Science, Ph.D. student in Electrical Engineering. His work at RoboFEI includes research in Mapping of human activity and Human-Robot Movement.

Douglas Meneghetti

Software development and integration
M. Sc. in Electrical Engineering, Ph. D. student in the same area. His work at RoboFEI includes object recognition using feature extraction/matching algorithms as well as convolutional networks. Also responsible for version control.

Thiago Meyer

Computer science and programmer member
Computer science student since 2015. RoboFEI@Home member since May 2016. Works with Speech area, recognition, localization and synthesis.

Leonardo Contador

Computer science and programmer member
Student of automation and control engineering at FEI. Coordinates the specific programming activities.

Rodrigo Techi

Electronics Member
Student of automation and control engineering at FEI. Coordinates the specific activities of electronics, management and control of batteries.

João Coelho

Electronics Member
Electrical Engineering Student, Member of the team since May 2017.

Marina Gonbata

Mechanics Member
Mechanical engineer. RoboFEI@HOME member since February 2015. Responsible for the mechanics of the manipulator and head.

Bruno de Freitas

Mechanics Member
Mechanical engineering student since 2016. Became a member of the RobôFEI@Home team in August 2017. His work includes the maintenance and development of robot carcass and structure.

Matheus Domingos

Mechanics Member
Mechanical engineering student. Member of the team since september 2017.

William Yaguiu

Mechanics Member
Mechanical Engineering student since 2016 and member of the team since September 2017. Responsible for maintenance and optimization of robot mechanical parts and structure.

Flavio Tonidandel

Professor – RoboFEI
Professor of research group in robotics and artificial intelligence. Responsible for SSL team activities.

Reinaldo Bianchi

Professor – RoboFEI
Professor of research group in robotics and artificial intelligence. Responsible for Humanoid team activities.


Some television news and participation in events disseminating the league RoboCup @ Home in Brazil.

Learn about the TDP and Video Qualification history
and follow the evolution of our team.


Contact our team. Meet our robots. The RoboFEI team participates in other leagues.