I decided to replace the Milk-V Duo on the Zeroth-01 with a Raspberry Pi. I did this because I want to replace the eyes with a RealSense D421 stereo camera, which needs to connect to the main board using USB-C which the Milk-V does not have spare.

I also prefer the more familiar Debian OS and the huge Pi community as the foundation for my robot project.

I decided to go for the pricier servo driver HAT, because it can use the battery to properly power the Pi without any wiring.

• 16x ST3215 Serial Bus Servo
• 1x Raspberry Pi 5 8GB
• 1x Waveshare Low profile heatsink
• 1x Waveshare Serial Bus Servo Driver HAT
• 4x M/F 16x2.5mm standoff
• 4x F/F 16x2.5mm standoff
• 4x 10x2.5mm screw
• 4x 5x2.5mm screw
• 1x 3S RC LiPo battery with an XT60 connector
• 1x RealSense D421 (optional, I use this for a VR teleoperation project)