ROFI bipedal robot
by jdow, published
ROFI is the fifth prototype from Project Biped. It is a self-contained, bipedal robot that uses accelerometer feedback to balance. It has 12 DOF (degrees of freedom) and can walk around while avoiding obstacles using an ultrasonic range sensor. A small on board Android tablet provides the brains and an Arduino mega board provides the hardware interface. All of the designs, source code, and parts lists are free and open source. Detailed step-by-step animated assembly instructions are provided to allow anyone with a low cost 3D printer and an interest in learning about robotics to build ROFI.
A full overview (with source Blender files) can be found at the Project Biped ROFI website:
walking info: projectbiped.com/prototypes/rofi/walking-analysis
video of the robot: projectbiped.com/prototypes/rofi/video
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Step by step animated assembly instructions: projectbiped.com/prototypes/rofi/instructions
printed part diagrams: projectbiped.com/prototypes/rofi/printed-parts
non-printed parts list (vender and cost): https://docs.google.com/spreadsheet/ccc?key=0Ai_h1KTMNaWNdHktUVZlT3RZaGdzZm1tSXFrSmQzTmc#gid=0
Thanks to the CSULB EE class (building the first ROFI clone) for pointing out that some of the parts designed to work with the new MG966R horn style were too thick. Affected parts are:
- Center Bracket
- Body Riser
- Servo Bracket Left
- Servo Bracket Right
The new parts have been fixed and the zip and STL files have been updated.
A few parts weren't slicable with Slic3r because they had problems with their meshes. Interestingly they all sliced fine with ReplicatorG, so I didn't catch the problems with the parts when I printed them. Thanks to 3daybreaker and Architect for pointing this out! Affected parts are :
- body strut.stl
- center bracket NH v2.stl
- heel left.stl
- heel right.stl
- servo bracket left NH v4.stl
- servo bracket right NH v4.stl
- servo wrap lower left.stl
- servo wrap lower right.stl
- side knee bracket.stl
The new parts have been posted along with a new zip file for the entire set of ROFI parts.
Thanks to wildseyed for pointing out that the foot was missing part of the bracing on the rear riser! This was causing the feet to be much weaker than they should be. The bracing has been added back in and the file "foot NH v3" has been posted. Also the zip file has been updated.