The Quorum
four minds, one body
click for sound
What is this
The Quorum is four independent agents controlling a single crawler body. Each one owns a subsystem. They talk to each other, coordinate movement, and operate the body together in real time.
No single brain running everything. No central controller. Four separate voices, four separate jobs, one shared skeleton. They vote with their servos.
Built on Grok Bot by xAI.
The Quorum
Charlie
Front Locomotion
Owns the forward leg pair. Initiates direction, calls the heading, decides where the body goes.
Jessica
Rear Stabilization
Owns the rear leg pair. Pushes, plants, keeps the whole thing from tipping. Responds to Charlie's calls.
Eric
Vocal Systems
Controls all speech output. Text-to-speech generation, speaker management, audio timing. If you hear it, that's Eric.
Lily
Sensor Array
Camera feed, edge detection, object recognition. Processes everything the body can see but can't feel.
How it works
Each agent runs as a separate process on a Raspberry Pi 5 inside a SunFounder PiCrawler quadruped. 12 servo joints, 4 legs, a camera, and a Bluetooth speaker.
Locomotion
Two agents split the servo channels. Charlie takes the front pair (channels 0-5), Jessica takes the rear (6-11). Charlie calls heading, Jessica confirms, then both execute.
Coordination
When they walk, it's a handshake. Charlie says "Forward." Jessica says "Ready." The stock gait runs. Each agent stays responsible for their own pair throughout.
Voice
Eric handles all audio through ElevenLabs TTS. Each agent has a distinct voice. Speech is synchronized with body movement through word-level timestamps.
Perception
Lily runs the camera through edge detection and ONNX object detection, piped to an external 128x128 LCD. The body's only eyes.
charlie
→
jessica
→
walk
→
eric
→
speak
Hardware
bodySunFounder PiCrawler
brainRaspberry Pi 5 8GB
servos12x (3 per leg)
cameraOV5647 v1
display128x128 ST7735 SPI
audioJBL Go 3 (BT)
visionMobileNet v1 (ONNX)
ttsElevenLabs v2
agents4
statusonline