Humanoid Robot (IMT-01)

Making a humanoid robot that can grab with a hook and use a saw to cut using Arduino UNO and pca9685.

(Easy build)

Supplies

Material Required:

• MDF board 5mm
• TowerPro SG90 Mini Servo
• The 150 RPM Single Shaft BO Motor
• Arduino UNO
• PCA 9685
• Battery
• Wires
• DPDT x3

Step 1: CAD

*CAD just for visual reference *

Step 2: Getting Parts to Cut

*Above images are of the first prototype, significant changes were made after that*

Step 3: First Prototype

First prototype was not having many problems:

• Could not stand due to the weight of the upper body.
• Servo could not get into their required positions.
• Legs unstable.

Step 4: Final Prototype

Legs were redesigned and feet remained the same.

knee Joints were removed and the whole leg was made in one piece.

Now the robot can remain standing

Step 5: Circuit

Reference:

https://forum.arduino.cc/t/pca9685-driver-and-simultaneous-servo-motors-issues/623755 (PCA9685)

https://www.vegoilguy.co.uk/reverse_polarity_switching.php (Wiring and Using DPDT switch)

Step 6: Code

*Add the required library from link given below*

Attaching all servo's horns after putting them in ideal condition.

Now you can make ur hand moments by adding steps and defining the position.

Reference:

https://github.com/adafruit/Adafruit-PWM-Servo-Driver-Library

Step 7: TEst

For now, it is working on a loop with no real-time control.

Can be improved and add more control to both arms.