Arduino Based Humanoid Robot Using Servo Motors

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Introduction: Arduino Based Humanoid Robot Using Servo Motors

Hello everyone,

This is my first humanoid robot, made by PVC foam sheet. It is available in various thickness. Here, I used 0.5mm. At now this robot can just walk when I switched ON. Now I'm working on connecting Arduino and Mobile through Bluetooth module. I have already done an App like Cortana and Siri for windows phone which is available in app store https://www.microsoft.com/en-us/store/apps/patrick... After Successfully connecting both, I can control it through voice command in Windows Phone.

I've spent many months in solving the battery over weight problem and ended with an epic fail due to budget problem. So, finally I decided to give power from external Lead-Acid Battery.

Lets see how I figured out the perfect design of the body for the robot.

Step 1: Trials and Errors on Designing the Model

At first I have no idea about the power of Servo motors and Electronics-Electricals that deals with batteries and circuits. I first planned for a life size robot for about 5 to 6 feet. After trying almost 6 or 7 times I realized the maximum torque of a servo and reduced upto 2 to 3 feet of total height of the robot.

I then tried upto hip of the robot to check the walking algorithm.

Step 2: Designing the Model and Algorithm

Before moving on we need to decide how many motors needed, where we need to fix. Then design the body parts according to the images given.

Step 3: Components Required

1) Plastic sheet

2) Super Glue

3) 15 - High torque Servo motors ( I used TowerPro MG995 )

4) Arduino Atmega 2560 or other Arduino boards

5) 6V Battery (minimum 3 nos. Atmost 5 motors for each battery)

6) HC-05 Bluetooth module for communication

7) Other basic stuffs which every hobbyist have!

Step 4: Building the Body

After struggling with wooden pieces I found this plastic sheet pretty easy to cut and paste to make various shapes.

I cut holes to fit servo motors directly into the sheet by applying super glue (I used 743).

Step 5: Wiring

I'm not studying an electronics or electrical major. And I have not enough patience to design a PCB or designing proper wiring. That's why this messy wiring.

Step 6: Increasing Power

You can see that I used only 11 servo motors at first. due to over weight problem, It fell down and broken during testing. So, I increased 4 more servos at each joins of legs.

Step 7: Coding

I've attached Arduino code.

for(i=0;i<180;i++)

{

servo.write(i);

}

This is the basic code for rotate any servo motor attached to any Arduino board.

But calibrating the rotating degrees and deciding which motors should run during the movement of each leg is the most tricky part of coding. It can be done by another Sketch called (Servo_Test). By testing the degree of rotation of each motors through serial communication through Arduino board, we can calibrate every motors.

Finally, the robot begins to walk after entering the value "0" in serial monitor window.

I have also included a sample windows phone 8.1 sample source code for connecting Arduino and Mobile using bluetooth.

1 Person Made This Project!

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68 Comments

0
akshaybodhi
akshaybodhi

3 years ago

sir please send circuit diagram and coding of robot to my e-mail akshaybodhi15@gmail.com sir please send body part coding and leg walking coding please send on my e-mail sir please

0
rockysaikia88760
rockysaikia88760

Question 2 years ago

Have you got to know the name of the plastic sheet?

0
yashrajjena12345
yashrajjena12345

Answer 6 months ago

BHAI LAKDI BANAO PLASTIC NI MIL RA HAI TO

0
BlackStar Vvek
BlackStar Vvek

Answer 2 years ago

PVC Foam

3
STEVEN PRADO
STEVEN PRADO

Question 1 year ago

Can u briefly show the wiring plzzzz

0
yashrajjena12345
yashrajjena12345

Answer 6 months ago

SCHEMATIC KYA POOJA KARNE DIYA HAI KYA

0
mayshastudent
mayshastudent

Question 9 months ago on Step 5

HI BRO HAVE YOU DONE THE WAIRING OF LEGS PLEASE tell me

0
yashrajjena12345
yashrajjena12345

Answer 6 months ago

BHAI YAA BAHAN JO BHI HO TUM WIRING KE BINAA KABHI MACHINE CHALTE DEKHA HAI KYA KUCH BHI BAKTE HO

2
Prabhneet Singh
Prabhneet Singh

9 months ago

Sir can you upload the image of wiring please

0
yashrajjena12345
yashrajjena12345

Reply 6 months ago

SCHEMATIC HAI NAA

0
yashrajjena12345
yashrajjena12345

Answer 6 months ago

C MEIN LIKHA HAI SIKH LO

0
shitanshuranjan6
shitanshuranjan6

Question 7 months ago

Sir can we use 10x Tower Pro Micro Servo 9G SG90 instead of TowerPro MG995

0
yashrajjena12345
yashrajjena12345

Answer 6 months ago

MUNNA WOH SERVO MOTOR KHILONA BANANE KE KAAM AA JAYEGA

0
yashrajjena12345
yashrajjena12345

6 months ago

BRO TUMNE DIMAAG BAHUT LAGAYA PAR TUM MAIN BAAT BHUL GAYE PARON PAR RUBBER GRIP LAGA SAKTE THE

0
niloygazi4
niloygazi4

6 months ago

Bro where is The circuit diagram

1
deu1
deu1

1 year ago

Hi BlackStar Vvek,
In one of your answers to Billybot you indicated that the left leg has 6 servos in it. I have looked carefully at the photos in your intructable and I see only 3. One at thigh level, one at shin level (below knee) and one at the ankle level. Also, there is one connecting the leg to the hip, thus equalling 4 in total. Where are the other two? I have built both legs so far. I know in your instructable you said you used 15 servos; when I count them I don’t see 15. From your photos I see eleven. I’d be most appreciative if you could tell me where they all are. Thanks so much.


Dan U.

0
unglaublich
unglaublich

Reply 11 months ago

you are right+ wrong...i believe he meat 3 for each leg and total of 6
for both legs???