Hey! This thing is still a Work in Progress. Files, instructions, and other stuff might change!

Arduped Biped Robot

by DJUltis, published

Arduped Biped Robot by DJUltis Mar 20, 2012


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After seeing a couple really cool examples of "four degrees of freedom" biped out there, I decided that I would make some cool feet and make the robots a bit more creature-like. Current ideas for cool feet are beasty feet, mech-like feet, rock feet.. you know.

The preceding examples of this type of robot used the pcb as the mounting point for the servos, and I've made a generic baseplate with room for a mini breadboard or your own preferred platform. I've also added a "neck" servo for looking around and ultrasonic sensor for sight. I plan to make a housing and more creature feet for this as there is much potential for customization.

The code I'm using is a derivation of the functions and primitives written for uBipedino (tm) by user Ro-Bot-X on the Let's Make Robots site. It is the part of the robot that is in progress, as I am working to fine tune the ultrasonics.

The link to Ro-bot-X's wonderful creation is here: http://letsmakerobots.com/node/30394

Arduped's home is at: www.handmadecircuits.com

Here is a video with some tips and tricks for assembly:

...and here is a video showing Aduped's first steps!



Print out the plastic pieces and bolt on the servos. I used foam tape to stick the feet on. I drilled out the holes on the servo horns a bit and used 2/56 x 5/16"L hardware to bolt everything on. For electronics I used an Arduino Nano, but there are many examples of PIC biped out on the nets too.

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Do you have the working code for this? Could you send me a link or email it to me [email protected]

Hola. De antemano saludos desde Colombia!

En estos momentos me encuentro imprimiendo los pies del robot en ABS verde, ya tengo el arduino nano, pero no tengo conocimiento al respecto sobre la programación. Podrias pasarmela?
[email protected]

Desde ya muchas gracias por el aporte educativo! :D

Pls send me the working code- [email protected] Thanks!

Hi i was wondering if u would plz send me ur code for the arduped to my email [email protected], i cant believe how cool ur robot is and i relli wanna make one. I am just getting started with arduino and C programming as i am an electronics technician and am new to programming. Would realli appreciate iit if u could send me the code, would help alot as i can only program sensors and make a servo move soo far. cheers:)

Pls Some body can give me the code. PLS.. im new. in 3D print. and im exploring using arduino but i dont know nothing about :) i can move one servo but i dont know how to start to walk.. pls helpme

the code for some reason is in 3 seperate arduino ide sketches only one has the libraries included servo h and newping . so u need to open all three and copy past the servo primitiuves and the walk functions into the ubipeduino sketch , its all one sketch it got seperated maybe to break it down for new users to be able to tell what part of the code is doing what and play with it and its movements but regardl;ess this is what must be done there wont be any errors it will just work one you upload it and power the little dude on . i printed on borlee 90 x90 rep rap i had to cut off the ankles to get it to fit the print them and glue em back on . seriously great project

One day I shall make this when I have spare servos lying around. Made a mount for a distance sensor for another project that might be useful here: http://www.thingiverse.com/thing:595454

Ultrasonic Distance sensor Servo mount

Great design!
Dunno if it's related to you, but http://handmadecircuits.comhandmadecircuits.com just shows an index?

Hi, Yes, I have handmadecircuits. Will fix links soon once Arduped v2 is up and rolling. I've made a new site at http://citizenscientificworkshop.comcitizenscientificworkshop.com that will host my stuff in the future.

hello, can you upload the feet separatly?


Hi! As in upload just the left or right foot in their own file? "A single foot" ?

yes please, a single foot, because I have a thing O matic and the platform is 100x100mm so I can
´t print the Biped puffyfeet archive

My Sells Mendel and PLA.

The translucent green ?

Its an opaque green, and yeah, that's PLA

Thanks! I hope to put a few more up soon.