Make a Simple Bipedal Humanoid Robot (Servo Walking Robot)

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Introduction: Make a Simple Bipedal Humanoid Robot (Servo Walking Robot)

About: Love simple robotics, electronics, sensors, arduino projects and generally building, modifying and opening up stuff

Bipeds are really cool because they are by far the most recognizable kind of robot. Companies have spent decades and millions to make these things. I've been wanting to make a bipedal bot for sometime now but most of them need a lot of motors and are pretty expensive to make.
I managed to make a simple bipedal robot at home out of essentially four micro servo motors (which are pretty cheap), an arduino and a breadboard. The bot can walk, kick, dance, navigate slopes etc.
Moreover since it's an arduino you can always add sensors or other body parts pretty easily and experiment with the bot.
ALSO IF YOU LIKE THE INSTRUCTABLE PLEASE VOTE FOR IT IN THE INSTRUCTABLE CONTESTS :)





Step 1: What You Need:

1) Micro Servo's (4 nos) : http://www.hobbyking.com/hobbyking/store/__662__HX...
2) Arduino (1 nos) : I used an UNO R3 but anything works
3) Mini Breadboard
4) Wires, Glue, Epoxy/Sugru/Clay/Hot-Glue-Gun.
5) Bits of cardboard

Yup. That's all you need to start. :)

Step 2: Attach Motors Together:

Use your epoxy/Hot-Glue/Sugru to attach two motors perpendicular to each other as shown in the pictures. Make two sets of these. Each set forms a leg. Glue the two legs together. I used a broken piece of plastic to ensure that the legs are glued flat and aren't angled with each other.

Step 3: Wiring!

Now connect the for motors on the breadboard. The last pin in each motor wire is brown signifying NEGATIVE. On the breadboard connect all the left side pins to one common negative pin. Similarly connect all the middle pins to one common POSITIVE pin. These common pins are now connected to the Gnd (for Negative) and +5V (for positive) respectively. The first pin goes into the PWM pins of the arduino. If you've used servo's with an arduino before you'll find this step awfully simple to understand. If you've never used arduino's and servo's before I recommend you view the following link to better understand how they work.
http://arduino.cc/en/reference/servo

http://arduino.cc/en/Tutorial/sweep

http://playground.arduino.cc/ComponentLib/servo

Step 4: Assembly:

Now attach a piece of cardboard to the top of the legs and mount the arduino and breadboard on to it. Your robot should begin resembling a body with legs now. Wrap any excess wiring that may be present with tape into the robot. Hanging wires disrupt the robots balance while walking.

Step 5: Feet and Balance:

Take two square pieces of card and stick them to the bottom of the legs to give the bot bigger feet and better balance. I used clay to make the join look neater.
Structurally your bot is now complete!

Step 6: Programming:

Programming is the hardest part of this bot but I have a few programs that I've already managed to get working with this bot. Load them onto the robot and watch it do wonders!
Once you're done loading a program onto the bot you can use a USB-Wall pug (Like those that come with modern smartphones) to run the bot directly off the grid. Although in this configuration the power wire can occasionally disturb the bots balance making with wobble while walking.

Step 7: ENJOY!

Your bot is done. Remember that this isn't the end. The above set up is very simple so you can always add to it.
Two motors on the side can make arms and complete a humanoid. Moreover you can easily add sensors to the bot and make it do different stuff. For example, by adding a tiny LDR and a servo controlled pen refill I made the bot protect a car. It fired a projectile if anything came in the way. Have a look at the video.

(Too see how to add an LDR to an arduino : https://www.instructables.com/id/Laser-maze-Securit... )
Hope you liked the instructable. Feel free to comment below. :)
Enjoy!

2 People Made This Project!

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87 Comments

Fun little project, with nice and easy instructions. Thanks for sharing.

I have a small video of the one i made:

my servo motor first goes to the refence position and then takes all the turns

and i want to stop this direct he movemen tit should take which i progrmmed.

Download the codes in your PC and open it in the arduino app in your pc. Then click upload

Im sorry..... i got the codes
Should i use netbeans to upload ?

Where are the codes?
Please give me ........ ??

Great Project, planning to work on this. How much time does it take to build this project?

Servo any model i recommend sg90 tower pro micro servos

Can I use the big bread board

i made the balance and the wirings ... (arduino has the codes already) but my biped start walking coockooo .... is it the servo motor ?

or my wiring .... i cant really figure if you are refering to righthigh means the top servo

Very well done. But wouldn't it be better if you used a battery instead of a plug pack.

3 replies

Yeah. You can. I've done it myself. I think I've forgotten to put a picture. Thing is you have to use three thin 3V button cells to run the robot because a big 9V battery tends to cause balancing problems.

The sketch isn't working for me I get this error "redefinition of 'Servo rightfoot'" and "redefinition of 'int pos'"

This is a great project but I cant make it work. Please help me.

the sketch isn't working for me I get this error "redefinition of 'Servo rightfoot'"

sir ... im trying to do the biped using only two micros XD would it be possible ?

I watched your demo... and I analyse the sequence of the bot .. would it be working the same by only using two micros ??