And use regular male to female jumper wires to connect the PCB to the Arduino using the above pin numbers. If you do decide to make the PCB follow the same order as above by using the ports on the PCB from right to left with the IMU port facing up. If you decide to not use the PCB and instead use a breadboard here are the servo connections: Not doing this may result in damaging the Arduino. Note: Make sure to unplug the jumper before connecting the Arduino to your computer through USB. Mount the Arduino and PCB to either side of the electronics mount using screws and the 3D printed spacers. A jumper connection is used to switch between USB and external power for the Arduino. It also contains a port for the external power source required to power the servo motors. In addition, I also left extra ports in case I wanted to expand and add other sensors such as Inertial Measurement Units or ultrasonic distance sensors. The PCB contains ports to directly connect the servo motor wires. To make the wiring neater I decided to make a custom PCB using perf board and header pins. Note: The parts are included in one of the following steps. Finally, I designed the body of the robot onto which the Arduino and other electronic components would mount. Making them too short would make the brackets collide, reducing the range of motion, and making it too long would exert unnecessary torque on the actuators. The dimensions of the links were made to achieve a large range of motion while minimizing the overall length. Once the links were mounted to the shafts using a nut, the bearing would provide a smooth and robust pivot point on the opposite side of the servo motor shaft.Īnother goal while designing the biped was to keep the model as compact as possible to make maximum use of the torque provided by the servo motors. The links were designed to hold a bearing while the brackets used a bolt for the shaft. Having dual shafts on either end of the motor gives structural stability to the design and eliminates any skewing that may occur when the legs are made to take some load. I designed brackets for the servo motor which provides a second pivot point diametrically opposite to the servo motor's shaft. I began by importing the servo motors into the design and built the legs around them. The humanoid legs were designed in Autodesk's free to use Fusion 360 3d modelling software. These two goals combined provide a robust foundation to perform various experiments, letting one develop the biped to more specific requirements.įollow on to create your own Arduino controlled Robotic Biped and do drop a vote in the " Arduino Contest" if you liked the project. A secondary goal was to make the biped relatively low-cost using readily available hobby parts and 3D printing leaving room for further upgrades and expansions. This allowed me to push the hardware to its limit. The primary goal while building this project was to make the system as robust as possible such that while experimenting with various walking and running gaits, I wouldn't have to constantly worry about the hardware failing. In this Instructable, I will show you the design and assembly of the robotic biped. This interest led me to try to design and develop a robotic biped that could imitate human walking and running. I have always been intrigued by robots, especially the kind that attempts to mimic human actions.
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