Introduction: The Arduino Robot: a Wobbly Penguin

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Summer comes with increasing heat, as a diligent DIY fan how could I do nothing but just eat ice cream?I need to design a small present to you and myself, something cute and interesting, how about a small penguin? Guess that it stands in front of you and winks, sayin‘May I help you?’

Besides its look, one of important features is the special penguin step, which makes the robot lovely. Therefore, I stress the wobbly step a lot. Fortunately, I found here comes with chirps when the robot shakes its head, the friction between gear and wooden structure during the working progress. The natural penguin-style sound helps me a lot.
Come to check my work!

I used to choose normal Arduino UNO as the main board in the beginning. However, Arduino UNO does not have in-built motor drive chip and it is too large, I have to buy an extra motor drive expansion board, which is expensive and hard to connect. Luckily, I found Romeo BLE mini board is so appropriate for my project. The mini board is fully compatible with Aruino UNO and with in-built motor drive chip, small and easy to install. In the result, I chose Romeo BLE mini board as the core board without any hesitation.

Step 1: Hardware in Need

1. Romeo BLE mini - Small Arduino Robot Control Board with Bluetooth 4.0

(The board compatible with Arduino UNO and integrats 2 way DC motor driver, independent power supply of Bluetooth and gear, becoming more powerful)

2. TowerPro SG90C 360 Degree Micro Servo (1.6Kg)

3. TT Motor with Encoder (6V 160RPM 120:1)

4. Wooden infrastructure component

5. Colorful connections printed by 3D printer×2

*Click here to download document for 3D printing.

*Click here to download 3D design sketch.

*Click here to download CAD document for laser cutting.

The penguin robot can promoted to test temperature with DS18B20 Temperature Sensor and LCD display screen.

Step 2: Take Wooden Infrastructure Component

Step 3: Build Motor Parts

Step 4: Make Direction Control Parts

Step 5: Complete Machine Assembly

Step 6: Complete Robot Penguin Look

Step 7: Connect Electric Circuit

Step 8: Code


@file PenguinROBOT.ino

* @copyright [DFRobot]([url=][/url]), 2017


* @author [sc.明阳]

* @version V1.0

* @date 2017-07-7



Servo myservo;

void setup() {







void loop() {

for(int x=1; x<10; x++) {










myservo.write(75); //Turn right


myservo.write(135);//Turn left


myservo.write(105); // Go straight