About Firatelloid

The danger of the past was that men became slaves. The danger of the future is that man may become robots.

Erich Fromm
Firatelloid (First Iranian Intelligent Humanoid Robot) is the first Iranian android which has won the best Iranian scientific award (Khwarizmi Young Award) and made the team members to be a pioneer of the robotic science in Iran. The awards are given to individuals who have made outstanding achievements in research, innovation and invention, in fields related to science and technology.
Benjamin Fonooni received his PhD in the field of Cognitive Robotics from UmeƄ University, Sweden. Mahni Shayganfar received his PhD in Computer Science from Worcester Polytechnic Institute (WPI), USA.

Benjamin Fonooni

Benjamin Fonooni, PhD

Chief Technology Officer at AiZtech Labs
Toronto, ON

Benjamin Fonooni, PhD
Hardware and Software Designer
Mahni Shayganfar

Mahni Shayganfar, PhD

Senior Software Engineer at Mercedes Benz Research and Development North
Sunnyvale, CA

Mahni Shayganfar, PhD
Hardware and Software Designer


Definiteness of purpose is the starting point of all achievement.

W. Clement Stone
General features of the robot are as follows:
  • Modular Hardware Design
  • Wireless serial data/command transmission (Freq. = 433.92 MHz)
  • Wireless Video Transmission (Freq. = 2.4 GHz)
  • Wireless Stereo Audio Transmission
  • Local Controlling Unit's parallel port hardware interface
  • Microcontroller based Master-Slave architecture
  • Philips 68-pins 80C552 PLCC Microcontroller as Master
  • 7 ATMEL 40-pins 89C51/52/55 DIP Microcontrollers as Salves
  • Character LCD
  • Graphical LCD

We become what we think about.

Earl Nightingale
Different sensors have been integrated into the robot for better understanding the world. The idea was to implement obstacle avoidance, object tracking and grasping functionalities. The integrated sensors are as follows:
  • Ultrasonic
  • Microwave
  • Light
  • Force Sensing Resistors (FSR)
  • Infra Red

I am not a product of my circumstances. I am a product of my decisions.

Stephen Covey
Two kinds of motors are used to move actuators of the robot. Based on the desired precision, following types of motors are integrated:
  • Stepper Motors
  • DC Motors

The mind is everything. What you think you become.

Given the wide range of actuators and electronics which go into the robot, choosing the right battery may not be an easy task. Firatelloid was capable of exhibiting many behaviors, which require simultaneous actuator movements. In order to operate longer in the environment, two types of batteries are used:
  • Sealed Acid
  • Li-ion

Strive not to be a success, but rather to be of value.

Albert Einstein
Firatelloid software is divided into PC and Microcontroller sections:
  • Developed with Microsoft Visual C++ 6.0
  • Incorporating basic Image Processing
  • Designing local controller software to send/receive commands
  • Integrating speech recognition capability
  • Designing multi language user interface
  • Incorporating video and audio capturing
  • Incorporating external interrupts
  • Serial port Communication
  • Parallel port communication
  • Incorporating timers
  • Incorporating PPTs, PITs and ADC operations
  • Incorporating external memories
  • Incorporating digital serial transmitters
  • Handling Master-Slave operations


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