In recent Channel 4 documentary Guy Martin Versus the Robot Car, they had a need to construct a robotic teasmaid. Called R2‑Tea2, and built by Running in the Halls, the teasmaid uses an Adafruit 16-channel PCA9685 PWM/servo board (USA/UK) and 2 H-bridge DC motor drivers to control the various motors. Communication is achieved via SMS to the Raspberry Pi by using Twilio and Google Dialogflow to interpret the commands. You can read more about this project over at The MagPi.