DIY Humanoid Bipedal Robot

Humanoid-Bipedal-Robot
About This Project

This project will show you how to make an expressive and energetic humanoid bipedal robot.

Project Info

Introduction

Casper was the first humanoid robot that we built. But all it could do was speak with its eyes and it moved around on wheels. Today, we’re to build another humanoid robot that is not only as expressive as Casper but can also dance, tilt, move around, shake hands, and give you a hi-5 among other things! And it’s super cute!

We’re going to program it in PictoBlox, our smart graphical programming software and control it using Dabble, our ingenious project interaction and Bluetooth controller app.

You can download PictoBlox from HERE and get Dabble on Google Play.

Hop on board ‘cause we’re beginning in 3, 2, 1… now!

Components Required

ImageComponentQuantityAvailable in Kit
evive1
Dabble1
PictoBlox1
Metal Servo Motor and Accessories8
    Acrylic Sheet 5mm 400mm x 300mm1
    • None
    M3 Nuts72
    M4 Lock Nuts4
    Male to Male Jumper Cable 20cmFew

    Building Guide

    Step 1: The Cutouts

    The entire structure of the biped is made of the acrylic parts. You can download the design from here.

    Before we begin with the assembly of the biped, let’s first name each part:Acrylic Parts

    1. Left/right body side plate x 2
    2. Body front plate
    3. Body base plate
    4. Body back plate
    5. Foot base and sole x 2
    6. Leg back servo plate x 2
    7. Leg servo horn plate x 2
    8. Leg front plate x 2
    9. Leg side plate x 2
    10. Leg bottom plate x 2
    11. Foot servo horn plate x 2 
    12. Foot front plate x 2
    13. Shoulder servo horn plate x 2
    14. Servo back plate x 2 
    15. Shoulder front plate x 2
    16. Arm front plate x 2
    17. Arm back servo plate x 2
    18. Arm top plate x 2
    19. Arm bottom plate x 2
    20. Claw x 2
     
     

    Step 2: Assembling the Base

    Let’s start the assembly by making the base as to this all the rest of the body parts will be attached. Take the body base plate and attach two metal servos to the space given using M4 bolts and nuts. One for the left leg and other for the right leg.

    evive Notes Icon
    Before you attach the servos, set the servo angle to 90 degrees for all the six servos using evive.

    Calibration of the servo has never been this easy. Connect the metal servo to either of the Servo Channel. Switch ON evive, you notice a menu on the TFT Screen, this is evive’s firmware. Select Controls, Select Servos, then select Servo channel on which the servo is connected. Then, using the corresponding potentiometer set the servo angle to 90°.

    Once done, take the leg servo horn plate and attach the two-sided servo horn to it using servo screws(which are already available in the servo accessories). Cut the notch of all the screws. Repeat the same for the other plate too.Attaching Servo horn to Leg Servo Horn Plate

    Now attach the leg servo horn plates to the body base plate by mounting the servo horns to the servo heads using servo bolts.Add servo to Body Base Plate

    Step 3: Assembling the Legs

    Now, let’s start the assembly of the leg.

    evive Notes Icon
    We are going to see the detailed making of one leg. The making of the other leg will be exactly the same as the first one. Make sure that the servo head should point downwards.
    1. Take the leg back servo plate and attach a metal servo to it using M4 nuts and bolts. hand servo 
    2. Next, take the leg side plates and attach them to the leg back servo plate using M3 bolts of length 12mm and M3 nuts.Attach Leg Plates
    3. Next, take the leg bottom plate and attach it to the leg side plates using M3 bolts of length 12mm and M3 nuts.
    4. Then, take the leg front plate and screw M4 bolt and nuts to it in the hole given in the center.
    5. Now, fix this leg front plate to the leg side plates using M3 bolts of length 12mm and M3 nuts. Make sure that the slot given for the wire to pass is close to the body base plate.Attach Base Plate
    6. Repeat steps 1 to 4 for the other leg.
    7. Once both the leg-sub assemblies are ready, fix them to the leg servo horn plate by mounting the servo horn on to the servo head using servo bolts. This will give movement to the legs of the robot.add leg assaembly

    With this, the leg assembly is complete. Let’s move forward to the making of feet of the bipedal.

    Step 4: Assembling the Feet

    Let’s begin with the feet assembly.

    evive Notes Icon
    Similar to the above step, we are going to make one foot in detail. And the other foot will just be similar to the first one.
    1. Take the foot base and glue it to the foot sole. Keep it aside to dry.Foot Base and Foot sole
    2. Till then, take the foot servo horn plate and attach two-sided servo horn to it using servo screws.Foot Servo Horn Plate1
    3. Next, place the servo horn plate and foot front plate on the foot base and attach it using M3 bolts of 12mm length and M3 nuts.Complete foot assembly
    4. Repeat steps 1 to 3 for the other side of the foot too.
    5. Finally, we are going to fix the feet assemblies to the leg assembly by attaching the servo horn on the servo using servo screws. And fix the foot front plate to the leg assembly using M4 bolts and M4 lock nuts.  This will give movement to the feet of the robot.Lower Assemby

    Phew! The lower body of our humanoid is complete. It’s time to make the upper body.

    Step 5: Assembling the Shoulders

    Let’s start the assembly of the shoulder.

    1. Take one of the body side plates and attach a metal servo to it using M4 bolts and nuts.add servo to body side plates
    2. Once done, attach that body side plate to the body base plate using M3 bolts of 12mm length and M3 nuts. Make sure that you fix the side plate in such a way that the servo head points outwards.add body side plates
    3. Now, take the shoulder servo horn plate and attach the double-sided horn to it using servo screw.shoulder servo horn plate
    4. Finally, attach the servo horn of the shoulder servo horn plate to the servo head on the body side plate using servo bolt. This allows the movement of the entire hands of the robot.attach shoulder servo horn
    5. Repeat steps 1 to 4 for the other side of the bipedal.add side plates

    Step 6: Assembling the Hands

    Let’s begin the assembly of the hand.

    1. Firstly, take the arm back servo plate and attach the servo horn to it using M4 nuts and bolts.hand servo
    2. Then, attach the arm bottom plate to the arm back servo plate using M3 bolts of 12mm length and M3 nuts.
    3. Screw M4 bolt and M4 lock nut into the hole given in the middle of the arm bottom plate.
    4. Next, attach the arm front plate to the arm bottom plate using M3 bolts of length 12mm and M3 nuts.arm side walls
    5. Then, screw the claw on the arm top plate using M3 bolts of 12mm length and M3 nuts.
    6. Fix the arm top plate to the arm back servo and arm front plate using M3 bolts of 12mm  and M3 nuts.attach top plate
    7. Next, take the shoulder back plate and attach servo horn to it using servo screw.
    8. Attach the servo horn fixed on the shoulder back plate to the arm’s servo head using servo bolt.add shoulder plates
    9. Next, attach the shoulder front plate to the arm back servo plate using M4 bolts and M4 lock nut.
    10. Fix the entire hand assembly on the body side plate by fixing the servo horn on the shoulder servo horn plate to the servo head.
    11. Repeat the above step 1 to 10 for the other hand.

    Step 7: Giving the Face to the Robot

    Attach the body front plate to the body base plate and the side plates using M3 bolts of 12mm and M3 bolts.add the face

    Step 8: Assembling the Back

    Finally, attach the body back plate to the body base plate and the side plates using M3 bolts of 12mm and M3 bolts.Add backplates

    Step 9: Giving Vision to the Robot

    The eyes of the robot will be LED dot matrix. We need two matrices for the two eyes. Different emotions can be displayed on the matrices. Firstly, connect both the LED matrices to evive as given below:

    • Left Dot Matrix:
      • CS: 10 of evive
      • CLK: 11 of evive
      • DIN: 12 of evive
      • VCC: 5V of evive
      • GND: GND of evive
    • Right Dot Matrix:
      • CS: 23 of evive
      • CLK: 22 of evive
      • DIN: 24 of evive
      • VCC: 5V of evive
      • GND: GND of evive

    Once connections are done, fix the matrices into the hole given on the body front plate.add matrices

    Step 10: Making the Robot Capable of Movement

    Make the connections as given below:Biped Circuit COnnections

    • Left leg servo:
      • VCC (Red wire): 5V of evive
      • GND (Brown wire): GND of evive
      • Signal (Orange wire): Digital pin 2 of evive
    • Right leg servo:
      • VCC (Red wire): 5V of evive
      • GND (Brown wire): GND of evive
      • Signal (Orange wire): Digital pin 3 of evive
    • Left foot servo:
      • VCC (Red wire): 5V of evive
      • GND (Brown wire): GND of evive
      • Signal (Orange wire): Digital pin 4 of evive
    • Right foot servo:
      • VCC (Red wire): 5V of evive
      • GND (Brown wire): GND of evive
      • Signal (Orange wire): Digital pin 5 of evive
    • Left shoulder servo:
      • VCC (Red wire): 5V of evive
      • GND (Brown wire): GND of evive
      • Signal (Orange wire): Digital pin 6 of evive
    • Right shoulder servo:
      • VCC (Red wire): 5V of evive
      • GND (Brown wire): GND of evive
      • Signal (Orange wire): Digital pin 7 of evive
    • Left-hand servo:
      • VCC (Red wire): 5V of evive
      • GND (Brown wire): GND of evive
      • Signal (Orange wire): Digital pin 8 of evive
    • Right-hand servo:
      • VCC (Red wire): 5V of evive
      • GND (Brown wire): GND of evive
      • Signal (Orange wire): Digital pin 9 of evive

    Step 11: Looking into the System

    The bipedal robot is the cutest and the most entertaining robot works completing on the basis of servos. The eight servos are used for the movement of the bipedal and the LED dot matrix, draws the expression on the display. 

    The lower body of the robot contains four servos in total, two for the movement of feet and two for the movement of the entire leg. We can easily code them with the help of the code given in the below step. Which can make the robot, walk, dance, turn, bend, etc.

    The upper body contains six… no seven major components. Two servos are used for the movement of the claw. The other two for the movement of the entire hand assembly. Which let the robot do the movement of fly, say hi, or a shake-hand. The two LED dot matrics for the display of emotions like a wink, looking left or right, falling in love, and many.

    The last component is the most important one that lets you change the walk and emotions of the robot using a Smartphone, it is nothing else but a Bluetooth Module. Dabble’s gamepad module lets us do the magic.Gamepad

    We have assigned some basic functions to the keys of the gamepad, you can change the function if you want.

    Controls of Dabble.

    • Up: walk forward
    • Down: walk backward
    • Right: turn right
    • Left: turn left
    • Triangle: fly
    • Cross: right-hand shake
    • Square: dance 3
    • Circle: dance 1
    • Select: shake leg right
    • Start: left hand hi  

    Step 12: Graphical Code

    Coding the bipedal humanoid robot has never been this easy. Secret? PictoBlox. We will code the bipedal in PictoBlox- a graphical programming software. Where we can just drag and drop the blocks and the code is ready.

    The best part? We can calibrate the servos in real time. The following are the two dedicated blocks: 

    1. To calibrate the Leg Servos( move left leg () right leg () left foot () right foot () in () ms ): leg calibration block
    2. To calibrate the Shoulders( move left shoulder () right shoulder () left hand () right hand () in () ms ):shoulder calibration block

    Before we start working with the bipedal, the first thing we need to do is upload the firmware. Upload the following code to upload the firmware:Biped Firmware

    Once everything is done, let’s begin to write the code:

    The first block is none other than the main block, which will call out all the functions:main block

    Now, we need to first initialize all the servos, every time the bipedal is powered up. This block brings all the servos to the original position.Initialization block

    The next block is the Leg Movement block which will make the robot move according to the key pressed in Gamepad.Leg movements

    The Hand Movement block, allows us to control the hand movements of the bipedal according to us.hand movememt block

    Lastly, the default block. Whenever no key is pressed the robot follows the Default code.default block

    Step 13: Conclusion

    With this, your smart humanoid bipedal robot is ready. Have fun with it! 🙂

    Circuit Diagram

    DescriptionCircuit Diagram

    Make the connections as shown in the given below:

    Code

    DescriptionDownload Code
    PictoBlox CodeDownload
    Acrylic DesignsDownload
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