Tito biped robot

by cparrapa Feb 29, 2016
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How long does the head normally take for people to print? I'm printing on a Monoprice Ultimate at 0.2mm in PLA with mostly default settings. Cura and Octoprint estimated around 3.5 hours for the head piece, but after 2:37 it's only at 31%. I suspect it's going to end up more like 7-8 hours.

My prints always take longer than the estimates, but not normally this long - is there something specific in this model that makes the estimates worse than usual?

Hi Dan

it depends on your printer as you can see is not because of Tito that your printer is slow it must be the parameters in your slicer software as recommend in the description just use middle quality parameters and it will be ok, 4 hours should be more than enough time to finish the 3D printing of the Head.

So maybe you have settings for high quality now.
hope is helpful welcome to the community!

Soon i will launch some videos to solve all kinds of issues related to biped opensource robots like Tito & Otto.
please subscribe https://www.youtube.com/ottodiy

I figured it out - my printer (Monoprice Ultimate) has really slow acceleration defaults (800). When I fix the Cura profile to have them (instead of the 3000 is inherited from the Wanhao Duplicator 6 config) the estimate it gives is 7:22 (which is accurate - it took just over 7 hours).

So, now I just need to do some testing and see how much I can increase the acceleration without ruining the quality and I should be good :-)


Finally I did it in a couple of night!

It's amazing when dancing smooth criminal! Definetly love it.

I have lost some time because calibration.ino does not compile on arduino program but I solved with servohome.ino and trying different servo horn to find the position "zero"

The only "REAL" problem I'm stiil having is that I have to use both the usb cable AND an external power (7,4V lipo battery) because if not the arduino board continuosly reboot..maybe the futaba servos draw to much amps.....

Anyway is a super project!



Welcome to the community Max!
i haven't seen many titos dancing the smooth criminal do you have a video? we have a facebook group https://www.facebook.com/groups/ottodiy/

Maybe is the futaba servos i had same problem that is why i created Otto after Tito. But after someone in the community mentioned it can be solved using a condenser.

appreciate you like it ! You are welcome

hi Camilo!

yes..I have a couple of videos while tito is "performing" smooth criminal like a pro! ahahahah

As soon as I can I will upload the video and try to add a capacitor between each servo..to get "smoother" movement.



Hi have problem with my tito... the servo keep hitting each other... is there any way fix this... im using Futaba servo S3003 360 model...

Try to calibrate, if not try different code, if not try different servos

how to calibrate?? i did used different code and still the same... are you using a 360 degree servo or 180 degree servo... i did order new servo with 180 degree see if it make a different... sorry kinda new with arduino and robotic...

maybe the 360 servos have different setting..I use the standard S3003 and everithing is perfect! anyway:

1: load servohome.ino on the board and connect the servos to center the position
2: connect the servo horn trying to have the horns perpendicular to the servo (try to switch the horns)
3: load smoothcriminal.ino on the board and enjoy!



Looking at the back of the TITO, what are the small silver things holding the legs onto the feet? I ordered all of the suggested supplies but non that fit into that hole to support the leg.

they are small plastic rivets i found in multiplo.org, but can be replaced by a screw and nut M3 just make sure the head fits into the Counterbore

great project..I definetely love it!

My quastion is about the servo centering procedure (neutral point)..how is performed via arduino?

thank you so much

Hi thanks :).
So you have 2 centering steps ones is physical; try to search to the middle point with the plastic wheel, then a digital calibration to make the alignment perfect https://github.com/OttoDIY/OttoCalTool


thank you so much for the link!
I'll do my best!

I'll post the photos once finished!


I have made the TiTo
Are these the connecting pins
Buzzer pin 10
Servo pin 2
Servo pin 3
Servo pin 4
Servo pin 5
Trig pin 8
Echo pin 9
Led L Pin 11
Led M Pin 13
Led R Pin 12

The mouth shows three LEDs which these pins are connected
the 3 LEDs change in the program or remain simply burn
Can you tell me what is the best program for this Tito

Kind Regards

Hi Erwin
Good job! i haven't played enough with the LEDs i just turn them on in the sketch, Otto program works the same for Tito :), check

Awesome design and model. Thank you.
I printed out Otto Bot and then realized, I actually have spare full size servos and a Arduino Uno not doing anything at the moment so decided to actually to Tito.

I am having a problem finding the round servo horns in all my junk, anybody got a link to a printable version. I have seen the parametric ones etc but non are for the round arm.


Hi Ross
I think you can still use the arm or create a parametric one like this http://www.thingiverse.com/thing:630862 that have maybe 3 arms and match the same diameter.

Parametric Servo Arms 3F 2F 1F

man now I feel rather dumb... never thought about that...
Been fiddling with the file and getting some nice horns out.

just be careful the model i recommended has some ribs that would interfere you have to get rid of them

Yeah I actually created a round horn using just the splines from the OpenSCAD file and then did the rest in 123D. Hopefully get them mounted tonight.

Comments deleted.

I love this design. I have all of the parts and I am so close to a final assembly. However, I have not worked with servos before and I am having a hard time getting the feet and legs to stay together. I have seen the pictures but they are not very detailed. Do the plastic pieces just snap into the white part on the servos. They fit in there but they do not stay attached. I don't see any other screw holes to attach the legs. And where do you put the power? Do you think a 9V connected directly to the USB would work? Just not sure where to put he battery once it is hooked up because it does not fit inside. Do you have any more assembly directions?

Hi Kmax
Are you referring to Tito or Otto? http://www.thingiverse.com/thing:1568652

Otto DIY build your own robot

Well, I plan to build both with my class...
I printed and started building the TITO first. Everything looks good EXCEPT the motors that connect to the u-shaped leg bracket does not stay attached. It is probably an issue of not understanding the servos - but do they just fit together?

Cool for Tito check videos of Eduardo https://www.youtube.com/watch?v=3BAscFZV4Rs in Spanish but you can see the details

Comments deleted.

I built this robot also but he will not walk :)
I use not DFRduino R3 but Arduino UNO
I think the power is not sufficient! Do I need extra power to the servos or what am I wrong?
So or the servo will work but very slowly and without force.
I am quite new to this area and don't have much idea but I would like to run it on battery for my little daughter. The original Zowi can do it but also about with a 3, 7v 4040mah rechargeable battery why I not get out?
Thank you for your help and sry for the bad translation from german to English

Hi Kengglol
I faced the same problem it seems that the power has to be independent for the servos and higher than 5V.
Because Arduino UNO only provide 0.7A but the original Zowi uses their own board called ZUM that can deliver 3A constant.

At the end i used a power bank USB to make it work.
Hope is clear you are welcome.

Thanks for the reply! Then I will have to do also with the powerbank.
I bought just the BQ to the core! https://store-de.bq.com/de/zum-core I hope that it works then :)

Hello, love your design. Thanks for sharing it.

I'd appreciate if you can help me with the bluetooh connection. I'm using a hc06 module. I used the code in github to rename the bluetooth adapter to "Zowi". The problem is when I use the original BQ app called "Zowi" in android, it is not finding the zowi robot.

I checked and the bluetooh adapter works fine, the name is changed ok to Zowi, I can see it in my laptop, tablet etc....

I also changed the name to upper case, lower case....but the App is not finding the buetooth. I tried the app searching an "original" zowi at a fnac store and it find a "Zowi" bluetooth device, and connect to it perfectly.

Any suggestion?

thanks in advance.

Hi Brunogon

I am in similar situation like you, trying to make it work with bluetooth, try what G4lile0 did:

  1. Download the official "Zowi App" from bq
  2. Configure the bluetooth module using this code: https://github.com/G4lile0/Bobwi/tree/master/code/v2/arduino/code/hc06_bt_config
  3. Then load the Zowi base v2 software: https://github.com/G4lile0/Bobwi/tree/master/code/v2/arduino/code/ZOWI_BASE_v2

Hope it helps

Thanks for your answer, really appreciated

It was the firt thing I did , I was following the guide you mentioned but with no success. Then I decided to send you the previous message in order to know if you faced the same problem.

The situation is frustating, my bluetooth adapter is renamed properly to "Zowi" but the app is not finding it. And my project is quite interesting due to I'm using a 5110 LCD in order to simulate zowi mouths.....

any other idea??

thanks in advance for your help

Hi Brunogon
Good news found this video https://www.youtube.com/watch?v=WquPuYG_MVw "Zowi from the scratch" is in Spanish but you can see clearly how the code is implemented.

Would like to see your remake!

You are welcome.

Hi, thanks you sharing the video. He's using a zumo board, it seems easy to configure the bluetooth.
But you know what? yesterday I configured the bluetooth name and the app found the zowi!!!!!!!!!!!

Now is time to modify you upper part of the head to allocate the nokia 5110 lcd.....

Great looking forward to see the result :)

How are the LEDs wired in, or are they even connected up?

Is up to you Elmo, i just connect them to any output (13 for example) and turn them on.