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GESTURE
CONTROLLED
ROBOT(Accel
erometer
based)
PUBLISHED ON: 01:41

BY: Vikas Sharma
IN: 8051, 8051 projects, Embedded
System, projects
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A Gesture Controlled robot is a kind of

robot which can be controlled by your
hand gestures not by old buttons.You
just need to wear a small transmitting
device in your hand which included
an
acceleration
meter.This
will transmit an appropriate command
to the robot so that it can do whatever
we want. The transmitting device
included a comparator IC for analog to
digital conversion and an encoder
IC(HT12E) which is use to encode the
converted by Web2PDFConvert.com
four bit data and then it will transmit by

an RF Transmitter module.
At the receiving end an RF Receiver
module receive's the encoded data and
decode it by an decoder IC(HT12D). This
data is then
processed by a
microcontroller (P89V51RD2) and nally
our motor driver to control the motor's.
Robot
Gesture device
As we can see in the images one is robot

and the another is to trnsmit the gesture
data to robot.
Now its time to break the task
in dierent module's to make the task
easy and simple any project become
easy or error free if it is done
in dierent modules. As our project is
already devided into two dierent part
transmitter
and
receiver.
We
will discuss both of them one by one.
Apart from Power Supply as it was
discussed in last blog you can see that
by just click here
1> Transmitter device or

Gesture device: This part contain
four module in it-1- Accelerometer
2- Comparator
3- Encoder(HT12E)
4- RF Transmitter
Accelerometer:- An
Accelerometer is a kind of sensor which
gives an analog data while moving in
X,Y,Z direction or may be X,Y direction
only depend's on the type of the
sensor.Here is a small image of an
Accelerometer shown. We can see in the
image that their are some arrow
showing if we tilt these sensor's in that
direction then the data at that
corresponding pin will change in the
analog form.
The Accelerometer having 6 pin1- VDD- We will give the +5volt to this pin
2- GNDWe
simply
connect
this pin
to the ground for biasing.
3- X- On this pin we will receive the
analog data for x direction movement.
4- Y- On this pin we will receive the
analog data for y direction movement.
5- Z- On this pin we will receive the
analog data for z direction movement.
6- ST- this pin is use to set the sensitivity
of the accelerometer 1.5g/2g/3g/4g.
Comparator:- For the purpose to

change the analog voltage into digital we
use comparator which compare that
analog voltage to a reference voltage
and give a particular high or low voltage.
LM324 IC
The figure shown here is comparator IC.

The pin 1,7,8 and 14 are use to give out
put to the microcontroller.We should
connect a reference voltage to the -ve
terminal for high output when input is
high(+ve terminal for high output when
input is low) from the LM324 IC.
In this circuit we compare the data from x
with two terminal one for positive x
direction and negative x direction and
same for y direction.
HT12E encoder
Encoder(HT12E IC):- The HT12E is an

4bit encoder which encode the input
data applied on it .The pin description of
the HT12E is shown in the figure .
pin (1 to 8) A0-A7 known as
address bits so we do not
need to consider them.
pin no (9 and 18) are use to
bias the IC as pin-18 as VCC
and pin-9 as GND.
pin - 17 is connected to the rf
transmitter module Din.
pin-16 and pin-15 are
connected by an Osc resistor
known as Roscc(1.1 Mohm)
pin-14 is connected to ground
to enable the transmitt.
pin-13 to pin-10 are known as
AD0 to AD3 those having the
4bit data which is required to
transmit.
RF Transmitter
Module(TX):- The transmitter module
is working on the frequency of 433MHz
and is easily available in the market at
the cost of 250rs .
The vcc pin is connected to
the +terminal in the circuit.
The data pin is connected to
the HT12E(pin no-17) that is
transmitted or we can say that
encoded data.
The next pin is shown in
gure is GND that is
connected to the ground
terminal.
Now the last pin ANT this is
connected to a small wire as
an antenna.
CIRCUIT OF GESTURE DEVICE

(TRANSMITTING MODULE)
1>
Receiver
or
Robot: This part contain four
module-1. Receiver
2. Decoder(HT12D)
3. Process(microcontroller 8051)
4. Actuator (Motor driver L293D)
RF Receiver Module(RX):- The RF

receiver module will receive the data
which is transfered by the gesture
device. It is also working as similar to the
transmitter module-
Connect the +vcc pin to the

5volt terminal
Connect the ground pin to the
ground terminal
The data pin is then
connected to the HT12D (pin14)
So that we can get the
decoded 4 bit data
Decoder (HT12D):- In a very simple
way we can say that an HT12D converts
that serial data into parallel which is
received by the rf receiver module.The
input data is decoded when no error or
unmatched codes are found. A valid
transmission in indicated by a high
signal at VT pin that is pin no 17.
HT12D
pin 18 : It is use to give the

+vcc or biasing to the IC
HT12D this pin is connected
with the +5 volt
Pin 17
: It is the valid
transmission pin it will high
when the transmission is ok
so that we connected this pin
to an led for indication.
Pin 16-15: we connect these
two pin directly by a 51k
resistor
Pin 14
: This pin is
connected with the rf receiver
module data pin to receiving
the serial data.
Pin 10-13: These pins are data
pin which is transferred by
the gesture module
Process
P89V51RD2):
(Microcontroller
The processing is the

most important part of the robot. Till now
we get the data from the decoder now
based on that data we have to make some
decision so here the role of microcontroller
is coming up. We use an 8051
microcontroller for our circuit to give them a
decision capability. Our microcontroller is
made up by nxp the product name is
P89V51RD2
The basic circuit to initialize the
microcontroller is shown below. We just
need an reset circuit and oscillator to run
the program.
8051 micro controller circuit
we use the port 1 as an input port and

port 2 as an output port.
so the Data from the decoder will
connect with pin 1,2,3,4 and motor
should
be
connect
with pin
21,22,23,24.
For forward the data to the Port2 is 0a

or for backward it is 05 then for lest its
02 and for right it is 08.
ACTUATOR'S(L293D):
The
Actuator's are those devices which
actually gives the movement or to do a
task like motor's. In the real world their
are various types of motor's available
which works on different voltages. So
we need motor driver for running them
through the controller. To get interface
between motor and microcontroller . We
use L293D motor driver IC in our circuit.
motor driver circuit

As in above circuit 2 pin male
As in above circuit a 2 pin male connector
in connected to the pin 8 this will provide
the operating voltage for the motor like if we
want to run our voltage on 12volt. so we
just have to connect a 12volt power source
Now here is the full circuit diagram of the
robot (receiver module)
RECEIVER MODULE
ACTUAL CIRCUIT OF RECEIVING MODULE
PROGRAM: Now here is the program of

the Gesture Controlled robot. The
program is in Embedded-C. The
microcontroller we used is 8051.
/*********************************
**********************************
***************
Gesture Controlled robot C program
using 8051 microcontroller
**********************************
**********************************
***************
INPUT DATA to PORT 1 LM324 OUTPUT
DATA to PORT 2 for L293D
MSB LSB
MSB LSB
1111 0001(0xf1)
0000 1010(0x0a)
forward
1111 0010(0xf2)
0010(0x02) right
1111 0100(0xf4)
1000(0x08) left
1111 1000(0xf8)
backward
0000
0000
0000 0101(0x05)
**********************************
**********************************
**************/
#include<reg51.h>
//INCLUDE
reg51.h for 8951
void main()
{
P1=0xff; // set port as input port
P2=0x00; // set port as output port
while(1) // infinite loop
{
if(P1==0xf1)
{
P2=0x0a;
}
else if(P1==0xf2)
{
P2=0x02;
}
else if(P1==0xf4)
{
P2=0x08;
}
else if(P1==0xf8)
{
P2=0x05;
}
else
{
P2=0x00;
}
}
}
Here is the video presentation of the
gesture robot....
Here are some more pics of the robot .

Leta take a look.
***************************** thanx
and
best
of
luck*****************************
ABOUT THE AUTHOR
Vikas
Sharma
AUTHOR & EDITOR
Hobbyst Researcher and working in

electronics domain, M.Tech in VLSI
Design and Embedded Systems.
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125 COMMENTS:
Pranjal Joshi
5 May 2012 at 10:25
Which 3 IC used in
transmitter?? on your
hand?
1.lm324
2.encoder
which is 3rd IC?
Replies
Reply
Anonymous
19 June 2013
at 13:41
beta
abcd
padho pehle
shubham pal
24 October
2016 at 23:25
decoder ht12d
Reply
Vikas Sharma
6 May 2012 at 21:31
no third ic is used
....actually i made this
circuit for other project
and i used tht hardware
for gesture the ciruit
diagram is correct and
no third ic is there....
Replies
Reply
koshal gupta
16 October
2014 at 23:01
I have used
arduino uno in
robot and a
clone of it in
glove so please
can u help me
with the code.
Sahajanand
jadav
23 February
2016 at 16:56
can i use
89c51
or
89s51/52?????
shubham pal
24 October
2016 at 23:27
exactly, same
doubt.
but i guess
89s52 is of
8051 family so
can be used.
Reply
Ram Veladri
27 June 2012 at 22:05
what
are
the
specications of motors
u hav used n also plz
suggest a suitable
program for this?
Reply
mani
4 July 2012 at 21:05
sir can you give the
program for this project
please
Reply
Pranay das
9 July 2012 at 19:32
Reply
Pranay das
9 July 2012 at 19:34
sorry its pin no 3,6,9,11
Replies
Reply
Vikas
Sharma
9 July 2012 at
21:35
10k variable
resistor
Reply
Ram Veladri
26 July 2012 at 17:55
sir,what is the range of
variable resistance that
we have to use while
transmitting
Reply
Akash Sompura
15 August 2012 at 20:25
Hello sir,
i want to make this robo
as my final year project..
i need your help with
the same..
plz give me the 8051
coding if possible..
my
email:
akkii.som@gmail.com
thnx in advance..
Reply
Davinder
12 September 2012 at
13:01
Hiiii....Bro i liked ur
project..and i'm also
working on a similar
project
using
accelerometer...so can u
plzz...provide me the
code for this project..

my
id:
bawadavinder@yahoo.c
om
Thanks...:)
Reply
Anonymous
18:14
Your projects sounds
fun.i also want to work
on this project.please
email me the coding for
the microprocessor.
my
email:doomed.007@gma
il.com
Thnx in advance :)
Reply
priyam sharma
14 October 2012 at
19:43
Reply
priyam sharma
14 October 2012 at
19:54
please mail me coding
for the microprocessor.
my email id is:
priyamsharma4490@gm
ail.com
Reply
performer
21 October 2012 at
16:36
hey could you mail me
the
microprocessor
coding
to
thowseaf786@hotmail.c
om
Reply
Rahul Tike
21 October 2012 at
20:05
Hello bro,
i m making this robo to
my nal year project for
diploma...plz help me...
i need your help with
the same..
plz give me the 8051
coding.....
my
email:
rahul.tike@yahoo.com
thnx in advance
Reply
BHAVESH PANDYA
30 October 2012 at
11:32
sir i want to make this
for my nal year project
so please give me for
this coding and hex file
Reply
Bhaskar Prasad
6 November 2012 at
16:16
sir please send me the
code,,,,,,
my
id:
varaprasad239@gmail.c
om
Replies
Reply
vikas sharma
30 January
2013 at 17:38
updates
on
blogs
Vikas
Sharma
10 July 2015
at 10:26
buddy
its
already there
just read it.
Reply
mani
14 November 2012 at
20:05
sir can you send me the
code please
mail
id:manikantha.g460@g
mail.com
Reply
Ram Veladri
21 December 2012 at
19:25
sir,what is the range of
10k variable resistor
while
transmitting
plzzzzzzzz help me n my
mail
id
is
rveladri@gmail.com
Reply
Ajinkya Rode
31 December 2012 at
11:46
can u plz mail me the
code?? thank you..!!
my
id
is:
jinx.rodes@gmail.com
Reply
Replies
vikas sharma
30 January
2013 at 17:39
updates
on
blogs
Reply
Tejas Salunkhe
4 January 2013 at 17:59

can u plzzzzzzzz mail
me the programming at
tejas.salunkhe@gmail.co
m
Reply
Prachiti Waghambare
19 January 2013 at
13:06
wat else can be added
in this project or any
variations??? pls mail me
on wprachiti@gmail.com
Reply
Ram Veladri
23 January 2013 at
14:02
wat else can be added
in this project or any
variations??? n extension
pls mail me on
rveladri@gmail.com
Reply
Anonymous
29 January 2013 at
16:29
project sounds nice
please send me code
and diagram and tell me
how to burn the code
into
ics.how
a
programmer for this can
be made if i am using
89c2051or 8051or which
supprot both the ics ,do
tell me if u have any
schematics
please
frward it to.e mailidabhishekpdh27@gmail.c
om
Replies
Reply
vikas sharma
30 January
2013 at 17:40
which project
dude
Reply
AKSHAY AHUJA
31 January 2013 at
10:13
can u plz mail me all
stuf for this project plz
its urgent..
mail
me
at
akshayahuja17@gmail.c
om
Replies
Reply
vikas sharma
2 February
2013 at 00:13
friend rst tell
me
what
exactly u want
then surely i
will help you
akshay ahuja
4 February
2013 at 09:59
bhai i actually
need
clear
circuit diagrma
for
reciever
module
dhrmaaz
15 June 2016
at 10:38
send me code
for
Micro
controller
(AT89C51) and
its hex le.
also
PCB
simulation
circuit
Reply
Joseph George
5 February 2013 at
22:36
i am actually trying to do
a similar project...so i
would really appreciate
if you could send me the
related stu like circuit
diagrams and the
source
code.........plz
send
it
to
josephg247@gmail.com
Replies
Reply
vikas sharma
6 February
2013 at 00:24
circuit diagram
is in the blog
and
also
thecode
MIDHUN
MANOHAR
PILLAI
9 February
2013 at 12:33
awesome dude
Reply
Joseph George
5 February 2013 at
23:08
Reply
Anonymous
2 March 2013 at 18:02
sir i want 2 ask how
correct comparator ic
LM324 is converting
analog signal from
accelerometer
into
digital?
Is
this
conversion
reliable?
what is the range of
smallest movement of
hand in any direction
(example forward) so
that LM324 can give
precise digital output ?
Reply
Anonymous
7 March 2013 at 15:26
sir plz send the full
docment of this project
to
my
mail
sagar.728@gmail.com
Reply
omkar shirke
12 March 2013 at 02:29
sir plzz mail me the
code of this project my
email
id
is
omkar.nightmare@gmail
.com
Reply
Anonymous
18 March 2013 at 18:02
let me Point out one
thing, you are using
ADXL335 accelerometer,
ryt? Maximum Vss of it is
3.6V but you are giving
5v to it which will burn
it.
Reply
Anonymous
19 March 2013 at 02:45
can u plz mail me all
stuf for this project plz
its urgent..
mail
me
at
Ayomideodegbesan@ya
hoo.com
Reply
suyash tiwari
22 March 2013 at 17:11
hello,i am workimg on
the same project so
could you please help
me by mailing me the
coding
at
suyashsmailbox@gmail.
com
thanks
Reply
Sidhu Burre
10 April 2013 at 13:13
Can i use ATMEGA32
MCU
Reply
rahul
5 May 2013 at 16:28
hello ,i'm a hobbyist and
i am interested in this
project.this has also
come on the electronics
for you magazine .CAN u
PLEASE send me the pcb
layout and can you post
a printed schematic on
the blog
Reply
Rahul Sirohi
6 May 2013 at 17:28
please can anyone mail
me the code for the
above project . i am
really struck with the
programming part of
this . Please help me out
with the programming
its really urgent for me..
i have used ATmega 16
microcontroller.
please mail me the code
asap if anyone has it atconverted by Web2PDFConvert.com
rahul.sirohi.10@gmail.c
om
Reply
Monti
14 June 2013 at 18:00
Please can anyone mail
me the code of this
project.I need to see the
coding as I am working
on this project for my
nal year my email
address
is
montighosh007@yahoo.i
n
Replies
Reply
Anonymous
19 June 2013
at 13:43
abe abcd padh
pehle
salle ko paki
pakie chhahiye
Reply
omkar velhal
27 June 2013 at 22:10
Sir can u plz send me
full layouts and code. .
My email
id
is
velhalomkar@gmail.com
Reply
jagrut vaghela
22 July 2013 at 14:22
hi.. i want to make this
robot as my nale year
project can you please
send the full detail of
this gesture control
robot.....thank you.... at
vaghela.jagrut@yahoo.c
om
Reply
Shobana Rajendran
30 July 2013 at 19:37
sir,
i want to do this
project.Can you please
send me the code.
(shobana5.sr@gmail.co
m).
Reply
saiprasad veer
3 August 2013 at 21:24
from this kits are
brought can u plz tell
me
its urgent ...
Reply
sanket helinge
6 August 2013 at 16:30
wat is the use of this
robot...????
Reply
nandu
7 September 2013 at
23:20
can u tell me how u
adjusted the preset
given to the comparator
..is it just by trial and
error method
Reply
jagrut vaghela
15:41
please tell me from
where i can buy an
accelerator ic please .....
at
vaghela.jagrut@yahoo.c
om
Reply
saiprasad veer
20:29
sir
i want to do this
project.Can you please
send me the code.
here is my email id
:saiprasad.veer@gmail.c
om
please
send
immediately
its
urgent......plz sir
Reply
Ronak Ghaskadbi
10:12
sir,
can u tell me how to use
the output of z axis in
accelerometer.
in the above diagram of
transmitter, only x and y
outputs are used.
in left and right
movement , there will be
change in all three
axis????
pls send me the
required solution on my
email:
ronak2601@gmail.com
Replies
Reply
Anonymous
29 September
2013 at 10:41
Z axis is for up
and
down
movement.
You
cannot
move your car
in up and
down
direction.
Ronak
Ghaskadbi
29 September
2013 at 13:44
but there will
be changes in
co-ordinates if
we r using 3
axis .
Reply
anna joseph
4 October 2013 at 13:28
hey,can you please send
more details about this
system
Reply
Sanju k r
18 November 2013 at
22:12
sir could u plz send me
the full programming
code
for
this
project....my mail id is
krsanju98s@gmail.com
Reply
Ram Veladri
21 December 2013 at
13:34
the range of variable
resistors in this project
is 1.6V try it will work
Reply
techbreak
7 February 2014 at
12:38
Sir i want to make this
project for my nal
year...please provide me
all the details on my
mail id is
mr.abhi.chauhan@gmail
.com..
i will be highly thankful
to you
Abhi Chauhan
Reply
techbreak
7 February 2014 at
13:00
sir please provide the
clear schematics of the
circuit,,hot to set the
preset...which antenna
is to be used..please sir
mr.abhi.chauhan@gmail
.com
Abhi Chauhan
Reply
Anonymous
28 February 2014 at
14:05
s i r need the full detail
about
accelerometer
based
gseture
recognition.
Reply
Rahul Mahale
9 March 2014 at 19:52
sir ,how to simulate this
project ..and if imlate
then
in
which
softwere...plz tell me sir
Reply
Pinank Munot
14 March 2014 at 23:08
Sir i am almost done
with this project and i
have
veried
and
checked each block of it
which is working ne.
The only problem i am
facing right now is with
the microcontroller. I
have burnt the program
which
you
have
mentioned on the blog.
But when the uC gets
the input at port1 it
does not give the
desired ouput at port2.
Infact all the pins at
port2 give a zero voltage

output even after the
variations
of
the
accelerometer. I am not
able to gure out right
now what can be the
problem with this. Can
you please help me with
this as i need to submit
my project in next week
itself.
Thank you very much
sir.
Replies
Reply
Anonymous
26 March
2014 at 11:44
what was the
refernce
voltage given
to
the
comparator
Aditya
26 September
2014 at 21:55
The reference
voltage should
be 1.60V
Reply
Amol More
16 March 2014 at 09:42
sir I can't get desire
output
of
camparator.......
what is the exact out put
of decoder at the
recever
Reply
Ranveer vimal
17 April 2014 at 22:16
Sir i am almost done
with this project and i

have
veried
and
checked each block of it
which is working ne.
The only problem i am
facing right now is with
the microcontroller. I
have burnt the program
which
you
have
mentioned on the
blog.bt prlm is decoder
ic not getting power
supply ,,,,sir pls help me
Reply
Amol More
30 April 2014 at 00:44
Hey guys any one want
the another program. i
will upload the program
for this project (alp and
embedded c ).....
Amore413@gmail.com
Replies
Reply
Anudeep T
30 April 2014
at 15:11
It will be really
helpful if u
could upload it
here or can u
mail it to me at
anudeep759@
gmail.com
please...
Thanks
in
advance!!
Reply
Anonymous
3 June 2014 at 18:27
Helo sir, i'm also working
on a similar project
using accelerometer...so
can u please...provide
me the code for this
project. I am using
atmel
at89s52
Microcontroller. It is also
a 8051 mc.. Hope u'll

ASAP..
my
email
id:
frijoc@gmail.com
Thanks...:)
Reply
AAKASH SAINI
11 July 2014 at 22:28
i am using pic 16f887 so
can i use ADC intead of
encoder decoder
Reply
Aniket Ahuja
6 August 2014 at 10:33
Sir, it is a great idea but
i m having a problem.
How can we program
the 8051mc. PLZ rply as
soon as possible.
my
email
id:ahujaaniket007@gmai
l.com
Reply
jack wilson
2 September 2014 at
16:22
Congratulations guys,
quality information you
have given!!!Your blog is
really helpful for nal
year students...
Final
Year
Project
Centers in Chennai
Reply
chris
5 September 2014 at
10:59
according to the circuit
the signals are high for
encoder ic..............but
the data sheet says data
pins
are
active
low.........?????
Reply
ankush lagad
18:14
Are u sure that 1.6v for
variavle resistor will do
Replies
Reply
Aditya
26 September
2014 at 21:57
Yes it will do...
Reply
Haseeb Baloch
26 October 2014 at
16:31
sir i need the full detail
about
accelerometer
based
gseture
recognition.
hbaloch3@gmail.com
Reply
vishal singh
2 December 2014 at
13:50
Sir i am in urgent need
of
the
detailed
information about the
project...
Can u mail me the
deatils
on
vishal.life92@gmail.com
?
Reply
DARPAN SHAH
23 February 2015 at
16:53
can u please send us
the code and details of
the project
darpan338@gmail.com
thank you
Reply
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23 February 2015 at
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Divyasai Balakavi
21 March 2015 at 16:59
sir can u tell me the
particular application
and advantages of
gesture controlled robot
in detail view........
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21 March
2015 at 17:00
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faizan
11 May 2015 at 16:55
can anyone please

explain
me
the
programme of this
project??? please its very
urgent....
Reply
faizan
11 May 2015 at 17:01
sir can you please send
me the program code
for this project? the one
u published in this page
i
have burn
in
microcontroller
(AT89S52) but is not
working. so please help
me and plese explain
my email
id
is
syedfaizan32@gmail.co
m
thank you
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Anonymous
9 July 2015 at 23:36
mail me the mc program
asap..please
@krazytokool@gmail.co
m
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Vikas
Sharma
10 July 2015
at 10:28
hello friend
the program is
already in the
blog...after the
circuit.
Reply
Anonymous
08:46
I want the PCB layout of
transmitter
and
receiver.
Reply
Anonymous
11:54
can i simulate this
project in proteus
/multisim ?
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what is the max.
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can i use 89c51 instead
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can we use 89s51 or
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What are you lookin

PUBLISHED ON: 01:41

A Gesture Controlled robot is a kind of

four bit data and then it will transmit by

As we can see in the images one is robot

1> Transmitter device or

Comparator:- For the purpose to

The figure shown here is comparator IC.

Encoder(HT12E IC):- The HT12E is an

CIRCUIT OF GESTURE DEVICE

RF Receiver Module(RX):- The RF

Connect the +vcc pin to the

pin 18 : It is use to give the

The processing is the

8051 micro controller circuit

we use the port 1 as an input port and

For forward the data to the Port2 is 0a

motor driver circuit

ACTUAL CIRCUIT OF RECEIVING MODULE

PROGRAM: Now here is the program of

Here are some more pics of the robot .

Hobbyst Researcher and working in

ball follower robot( IR

keil uvision 3 tutorial

Getting Started with

code for this project..

4 January 2013 at 17:59

port2 give a zero voltage

with this project and i

a 8051 mc.. Hope u'll

can anyone please

very well. It was crystal

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reading your post,

i did some blog may

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