Arduino Based Humanoid Robot Using Servo Motors

by BlackStar Vvek

68K16692


Intro: 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.

68 Comments

akshaybodhi 6 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

STEVEN PRADO 4 years ago

Can u briefly show the wiring plzzzz

mayshastudent 3 years ago

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

yashrajjena12345 3 years ago

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

shitanshuranjan6 3 years ago

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

yashrajjena12345 3 years ago

MUNNA WOH SERVO MOTOR KHILONA BANANE KE KAAM AA JAYEGA

yashrajjena12345 3 years ago

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

niloygazi4 3 years ago

Bro where is The circuit diagram

deu1 4 years 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.

unglaublich 4 years ago

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