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Welcome to the Modular Biped Robot Project Wiki!
This wiki serves as a comprehensive resource for the development and utilization of the Modular Biped Robot platform. Here, you will find detailed documentation, installation guides, usage instructions, and various other resources to help you explore this project.
NOTE: This wiki is currently under development. Errors and omissions expected
The Modular Biped Robot Project is designed to provide a flexible and modular framework for robotics development using Python and C++ on the Raspberry Pi and Arduino platforms. It aims to enable developers, robotics enthusiasts, and curious individuals to experiment, create, and customize their own biped robots. With a range of features and functionalities and the option to add your own easily, the Modular Biped Robot Project offers an exciting opportunity to explore the world of robotics.
Please use the navigation below to find the information you need to build the Modular Biped Robot.
There have been 3 versions of this project, version 2 was the smaller and less stable build detailed in the playlist below.
The current development is ongoing on version 3. This documentation is exclusively for version 3.
We encourage active participation, contributions, and discussions from the Modular Biped Robot community. If you have any questions, ideas, suggestions, or would like to share your experiences, you can join our GitHub Discussions section dedicated to the project. It's a great place to engage with other community members, exchange knowledge, and collaborate on the development of biped robotics.
Read more here: Community
We look forward to your participation and the exciting advancements we can achieve together in the field of modular biped robots!
| Item | Quantity | Description | Notes |
|---|---|---|---|
| Power Source and Switch | 1 | USB-C PD power source & selector switch | Allows selection between USB-C PD and 18650 batteries. |
| 18650 Batteries | 3 | 18650 rechargeable lithium batteries | Connected in parallel with USB-C PD power source. |
| Buck Converters (DC-DC) | 2 | Buck converter modules | Steps down voltage to 5V, one for Raspberry Pi, another for Arduino and servos. |
| Arduino Pro Mini | 1 | Microcontroller for servo control | Uses custom PCB. |
| SG5010 Servos | 9 | Standard size servos | Used for legs control. |
| TowerPro MG92B Servos | 3 | High-torque micro servos | Used for neck, head and ear control. |
| MPU6050 Accelerometer/Gyroscope | 1 (optional) | 6-axis accelerometer and gyroscope module | For balancing the robot. Optional. |
| Resistors (Voltage Divider) | 2 (optional) | Resistors for battery monitor | Used only for monitoring battery levels. Optional. |
| Raspberry Pi | 1 | Single-board computer | Controls vision and other high-level functions. Uses custom PCB. |
| Camera Module | 1 | Raspberry Pi-compatible camera module with wide-angle lens | For vision input. |
| Buzzer | 1 | Small electronic buzzer | For audio output. |
| Neopixel LED Ring | 1 | RGB LED ring | For the robot’s eye; controlled via Raspberry Pi or Arduino. |
| Custom PCB | 2 | Custom PCBs for Raspberry Pi and Arduino Pro Mini | Connects Raspberry Pi, Arduino, servos, MPU6050, and power management board. Gerber files available. |
| Logic Level Converter | 1 | Bidirectional level shifter (3.3V to 5V) | For connecting Raspberry Pi (3.3V logic) to Arduino Pro Mini (5V logic). |
| Headers & Connectors (JST, Dupont) | Various | 2.54mm standard headers and connectors | For connecting components to custom PCB. JST recommended for power-sensitive components. |
| Wire (Various Gauges) | Various | Wires in different gauges (18, 16, 14 AWG) | Used for power and signal connections; wire gauge depends on current requirements (see guide). |
| Pi GPIO to Arduino Connection | - | GPIO 14/15 (TX/RX) to Arduino RX/TX via Logic Level Converter | Handles serial communication between Raspberry Pi and Arduino Pro Mini. |