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This idea was born from my first 3D printed Humanoid robot project. My 3D printed DARwIn-OP clone. I learned a lot when doing this project and I am still working on making this robot better. My project had one major flaw though. At 6000.00 to 7000.00 USD per robot few people could duplicate my project. After thinking about this problem and seeing the work being done on Jimmy the 21st century robot and the Robosavvy Humanoid Robot design contest. I decided to start this project. I also decided to break it down in steps to make it easier on myself.Step one: use as much off the shelf parts as I could to get the robot up and working.Step two: Find ways to improve the robot and make it cheaper.Step three: Experiment with and open source the project to see if other people could duplicate the project. As this was one of the major goals of the project. To make humanoid robots cheaper and more accessible to the public.

Step 1: Parts List and Where to Buy

Robot cost break down:





AX-12A servos (18x37.42 = 673.56)

CM-904a servo controller (1 x 15.00 = 15.00)

Raspberry Pi, high level brain (1 x 40.00 = 40.00)

Raspberry Pi camera, for vision (1 x 30.00 = 30.00)

11.1 volt battery (1 x 29.90 = 29.90)

Bioloid Bushing set (1 x 4.99 = 4.99)

Bioloid Bolt and Nut set (1 x 23.40 = 23.40)

3 pin Bioloid servo cable pack(1 x 34.90=34.90)


2.2 ibs spool of abs plastic (2 x 31.99 = 63.98)

Servo bracket STLs free download.

Control software free download.

Total for robot (915.73 USD)


Possible Upgrades:


GS-12 2-axis gyro Sensor (1x 34.90 = 34.90)

Zigbee 110 wireless module (1x49.90= 49.90)

Bioliod Boomerang remote control (1x39.90=39.90)

DMS-80 IR distance sensor (1x14.90=14.90)

IR sensor (3x5.95=17.85)







Link to buy.




CM-530 (1x99.90=99.90)

AX Dynmaixel servo manager kit (1x90.95=90.95)

3d printer (1,000 to 3,000 USD)

Link to Trossen's Robotics.

Link to Robotis

Link to the Afina


Great instructable, but I don't get it. You can buy bioloid for 1200$. So you saved 200$?
<p>Hi, your robot is really advanced, it's one of the best that I have seen, its design is much better than Nao, and can do things that it can't do.My council to you is to buy it for about 5000 dollars, and make a new one for you and win 4000 dollars.Haha!</p>
<p>Not sure how you bought a NAO for only 5,000.00 dollars. </p>
<p>Sorry I made a mistake, I was meaning &quot;sell your robot&quot;. Awesome robot!</p>
<p>For stronger, much cheaper servers look into LD-2015. Their stall torque is 17kg:</p><p><strong>LD-2015 High Torque Metal Gear Digital Robo-Soul Servo Two-axis Servo for Robot <br><br><br><br>Specifications:</strong><br><br>- Speed: 0.16sec/60&deg;7.4V<br><br>- Stall torque: 15kg/cm 6V; 17kg/cm 7.4V <br><br>- Working voltage: 6-7.4V <br><br>- Empty load current: 100mA<br><br>- Cable length:30cm<br><br>- Size: 40*20*40.5mm<br><br>- Weight: 60g<br><br>- Accessories included: Main shaft horn(4mm thickness), countershaft horn(2mm thickness)</p><p>Enjoy!</p>
<p>I am going to say with the AX-12As, as they are better servos!</p>12V15.3 kgcm<br>212 ozin59 RPM <br>0.169sec/60&deg;55g32 x 50 x 40 mm0.29&deg;1/254300&deg; or Continuous Turn9-12V (Recommended Voltage 11.1V)900 mA50 mA-5&deg;C ~ 70&deg;CTTL Half Duplex Async Serial254 valid addresses7343bps ~ 1MbpsYesYesYesYesYesPlastic Gears and BodyCored Motor<a href="http://support.robotis.com/en/techsupport_eng.htm#product/dynamixel/ax_series/dxl_ax_actuator.htm" rel="nofollow">AX-12A manual</a>
<p>finally managed to make it. however haven't programmed it to move it yet. </p><p>only managed to test one servo using raspberry pi.</p>
<p>HEY <br>everyone i think i found cheaper servos that can work for half the price i am <br>gonna start building this robot in some months and i will tell you if this <br>works.Here is the link: <a href="http://www.hobbyking.com/hobbyking/store/__41216__Turnigy_TGY_S508_300_Digital_Intelligent_Metal_Gear_Robot_Servo_8kg_0_16Sec_75g.html" rel="nofollow">http://www.hobbyking.com/hobbyking/store/__41216__Turnigy_TGY_S508_300_Digital_Intelligent_Metal_Gear_Robot_Servo_8kg_0_16Sec_75g.html</a></p>
<p>Good luck but the stall torque of the servo is to low and the backlash is too high.</p>
I'm thinking of making this and there is no way I can afford the servos what's a cheaper alternative
<p>how do you control the robot using raspberry pi? are there any codes available on the net?</p>
hey bro plz help me. i am not finding the foot in the download link that u gave plz ll u send me taht to my email address. navneetcsgowda@gmail.com
<p>I see the foot in the download link?</p>
<p>may i have the program for the raspberry pi. i am sufferin to make it possible.pla do somthin abt it. need yr hrlp</p>
This is awesome!
<p>i love the movements, what's the software behind this?</p>
<p>very interesting board, never heard of that before.</p>
<p>How does this robot compare to your Darwin clone? I see you're using more generally styled servo brackets, ax12a servos rather than mx28t's, and simpler electronics. So what were the trade-offs? This seems to compare nicely to Darwin in terms of price vs performance.</p>
<p>It compares better in price but in performance no. The DARwIn-OP totally out classes it. </p><p>The key to all robots is it's servos and the MX-28T are a lot more advance then the AX-12As. <br><br>The second most important part of the DARwIn is the fit-pc which runs Linux. My new robot only has a arduino like servo controller. </p><p>Maybe I can give it a brain with the Intel&reg; Edison?</p><p><a href="http://www.intel.com/content/www/us/en/do-it-yourself/edison.html" rel="nofollow">http://www.intel.com/content/www/us/en/do-it-yours...</a></p>
<p>I would currently start with an odroid u3, this machine is AMAZING (quadcore 1.7 ghz, 2gb ram) and the size of the raspberry pi, costing 60 USD! It can run Android or Linux. Right now, unfortunately, the Arduinos are not up to the task (I have the Mega, the Nano and the Due), let's see what the Arduino Tre will bring.</p>
that's beautiful, but it's more a gallery of images and videos than a step to step guide... do you plan to add more details to make the project reproducible?
<p>working on it!</p>
<p>Great! It will undoubtedly win the day!</p>
sounds very interesting, the software, esp for walking would be interesting and also what you'll use for making the bot see. there's some opencv stuff for the picam out there, i also got it roughly running but it's quite complicated. the gyro seems to be really expensive, what is the advantage compared to commonly used mpu-6050s (6$)?
<p>It does not have a brain to do vision with yet but working on it.</p>
This is just amazing and im only 14
<p>thanks!!</p>
Sure, I can add more detail and yes the project is still a work in progress.

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Bio: Mike's Bio: He is a computer programmer by day and an amateur roboticist by night. Mike and his humanoid robot Boomer have competed in ... More »
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