Arduino Based Humanoid Robot Using Servo Motors

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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.

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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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52 Discussions

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deu1

7 weeks 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.

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STEVEN PRADO

Question 4 months ago

Can u briefly show the wiring plzzzz

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winyannainghtunt

4 months ago

what is the name of the servo sir i want to build it

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unglaublich

10 months ago

well, you have done very well, the "errors"/problems were more of a budget problem,
you used: TowerPro MG995 which has approx cost between 7 to 20$...for the size you have
now will work as you have proved it, but for a 5/6 feet ...for the hip to the feet, you will need
4 servos with 180kg/cm...and these total cost approx. 400$, and 2 rds3135 (for rotation at
the hip ) and these are also cheap...so save some $ and do not give up...and enjoy!!!

2 replies
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BlackStar Vvekunglaublich

Reply 10 months ago

well thank you. Yes I'm aware of that and I'm now trying with 3D printed light-weighted but stronger parts with custom built linear actuators using steppers in some places and servos in other places.

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unglaublichBlackStar Vvek

Reply 10 months ago

all the best to you, and if you are planning to use 3d printer for body parts, you
might want to consider using nylon/carbon-pla...but try to avoid abs for health
reasons...with steppers and/or actuators...you might end up terrying your hair
out because of the programming hahaha...again all the best to you..

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Ccit

11 months ago

Hello sir
I want to ask about the servo motor that you are using. The type is whether the servo type rotates 360 degrees or 180 degrees. Please help me, with my email: ccit.micro@gmail.com
Thanks.
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akshaybodhi

1 year 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

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AmulS

2 years ago

I tried this robot myself and i face some problems?

1. how you manage robot balancing problem after putting battery as battery is so heavy?

2.what are the ratings of battery used, and how many battery need for below hip portion?

3.how you provide power to servo motor? directly via battery or via Arduino pin (VIN/VCC)?

please reply asap, my mail id - sharmaamul01@gmail.com

1 reply
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akshaybodhiAmulS

Reply 1 year 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

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akshaybodhi

Question 1 year ago on Step 7

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

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akshaybodhi

Question 1 year ago on Step 5

sir i am making a robot so please tell me the circuit diagram and the coding which you have made sir please send sir please on my g-mail akshaybodhi15@gmail.com

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JaydenY1

Question 1 year ago on Step 5

Is it possible we could see a diagram of the wiring (sorry for necroposting)

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f.altamura.07

1 year ago

Wiring Please i need it Please!!!

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shreyansh1115

2 years ago

please provide connection diagram

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shreyansh1115

2 years ago

please add me on whatsapp 8585990755 please its a request

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SaiP45

2 years ago

hey... u hav done with the hardware work... can u plzz send the arduino bluetooth cmplt coding for the above nd app to be used to control it....patric app is not available now.... any simmilar app