Easy Biped Robot

I have been developing this robot for the past year to use it as a platform to teach robotics.

With this robot I teach how to move servos with direct movements and with controlled movements using "FOR"

The robot can dance, walk and even run.

You will need:

Arduino Nano

14 male-male wires

small protoboard

4 SG90 servos

1 9V battery

1 9V battery connector

2 rubber bands

Step 1: Some Examples of the Routines That This Robot Can Perform

Step 2: 3D Model to Print

Follow this link to download the model.

It is scaled to fit SG90 Servos. No glue is needed. All is snap-on.

Step 3: Putting Together the Robot

Play the video to learn how to assemble the robot.

Pay special attention to the position of the servo shafts. The shafts have to be exactly centered before assembling the robot.

To center your servos, you can run this program once your wiring is done:

#include <Servo.h>

Servo rightfoot;

Servo rightthigh;

Servo leftfoot;

Servo leftthigh;

void setup()

{

rightfoot.attach(9);

rightthigh.attach(5);

leftfoot.attach(3);

leftthigh.attach(11);

leftfoot.write(90);

leftthigh.write(90);

rightthigh.write(90);

rightfoot.write(90);

}

void loop()

{

delay (500);

}

Step 4: Code Example

#include

Servo rightfoot;

Servo rightthigh;

Servo leftfoot;

Servo leftthigh;

void setup()

{

rightfoot.attach(9);

rightthigh.attach(5);

leftfoot.attach(3);

leftthigh.attach(11);

leftfoot.write(90);

leftthigh.write(90);

rightthigh.write(90);

rightfoot.write(90);

}

void loop()

{

//primer movimiento pata derecha

leftfoot.write(90);

rightfoot.write(110);

rightthigh.write(90);

leftthigh.write(90);

delay (500);

//segundo movimento pata derecha

leftfoot.write(90);

rightfoot.write(90);

rightthigh.write(90);

leftthigh.write(90);

delay (500);

//tercer movimiento pata derecha

leftfoot.write(90);

rightfoot.write(90);

rightthigh.write(110);

leftthigh.write(90);

delay (500);

//cuarto movimento pata derecha

leftfoot.write(90);

rightfoot.write(90);

rightthigh.write(70);

leftthigh.write(90);

delay (500);

//primer movimiento pata izda

leftfoot.write(70);

rightfoot.write(90);

rightthigh.write(90);

leftthigh.write(90);

delay (500);

//segundo movimento pata izda

leftfoot.write(90);

rightfoot.write(90);

rightthigh.write(90);

leftthigh.write(90);

delay (500);

//tercer movimiento pata izda

leftfoot.write(90);

rightfoot.write(90);

rightthigh.write(90);

leftthigh.write(70);

delay (500);

//cuarto movimento pata izda

leftfoot.write(90);

rightfoot.write(90);

rightthigh.write(90);

leftthigh.write(110);

delay (500);

}