Walking Biped Humanoid Robot
In this project we are going to design and implement walking biped robot. The aim of the robot to walk like human. We are going to use servos motor (LX-16A) and the controller STM32F303 (ARM? Cortex?-M4 core). The body which we are designing for the robot is 3D printed based.  
2025-06-28 16:36:42 - Adil Khan
Walking Biped Humanoid Robot
Project Area of Specialization Electrical/Electronic EngineeringProject SummaryIn this project we are going to design and implement walking biped robot. The aim of the robot to walk like human. We are going to use servos motor (LX-16A) and the controller STM32F303 (ARM® Cortex®-M4 core). The body which we are designing for the robot is 3D printed based.
The theme of our project is to control the motion of humanoid biped by using machine learning, a humanoid robot for motion capture and playback We are applying the invers-kinematics and forward kinematics phenomena. In the inverse-kinematics
We are obtaining motor angle by giving posture to biped robot. In forward kinematics we are provide those angle which we learning in inverse-kinematics phase.
Project ObjectivesThe main objectives are given below
- The main objective of this project is to design and implement a technique of walking for the motion of humanoid robot.
- We are designing the STL file for 3D printing of the robot body. Then we print it and assemble all the parts of the robot.
- Controlling action of the humanoid robot is applying on servo Motors by given angle.
- We use Machine learning technique for the stability purpose
Walking biped robot uses STM32F303 (ARM® Cortex®-M4 core) for “brain," LX-16A servos for “muscles” and plastic 3D-printed parts for “bones." The LewanSoul LX-16A servos are dream servos for small robotic projects, as they are light, can move over 19 kg.cm and are connected with a single cable, running from servo-to-servo, making cabling the robot very easy.
Walking biped humanoid robot is a 2:1 scale humanoid and its legs are 55 cm tall (21.7 in) from heel to waist and weigh 1, 1 Kg (2.4 lbs). The body were 3d-printed, but could as easily have been made out of lightweight sturdy wood.
Walking biped humanoid robot has 10 DOF. LX-16A servos are connected to a LewanSoul servo debugger board and this board is connected with the STM32F303 (ARM® Cortex®-M4 core) through serial communication which act as the brain. STM32F303 (ARM® Cortex®-M4 core) send and receive the command to the servos through the debugger board using serial communication.
Benefits of the Project- Bipedal robots are able to move in areas that are normally inaccessible to wheeled robots
- Bipedal robots may be easier for people to interact with walking robots with a humanoid shape rather than robots with a nonhuman shape
- Compared to a wheeled robot, a bipedal robot can move in a variety of surfaces and can also use tools & environments meant for humans. Compared to robots with more legs, these can use their limbs more effectively for carrying & using tools.
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We are using a network of ten LX-.16A servos to control the motion of the humanoid biped robot. The ten LX-.16A servos connected to each other with a single cable, running from servo-to-servo and this network is connected to a LewanSoul servo debugger board, this board is connected with the STM32F303 (ARM® Cortex®-M4 core) through serial communication which act as the brain. The baud rate for the communication between the brain and the servo is 112500. Walking pattern of biped robot has three most important factors ZMP, COM and COP. During the walking pattern the robot will start at Two legs stand that is one leg stand in front and the other stand rear. The reason for this is to move the COM forward in to the supporting area of the front leg and ready for the rear leg to lift over the ground. Since the robot is in static mode, the pivot point COP stays under the COM. Then next step is to transit forward into One leg Stand phase, during the transition the torque created by the turning of ankle servo will slide the COP towards the inner area of the support foot for a while, As when the COM is not sit vertically above COP, so the robot will lend on either side and lift the rear leg above the ground. When the ankle servo reaches the desire angle, the torque will disappear then the COP will move back under the COM and this is the One leg Stand phase. The final step is moving the rear leg forward, turn the joint angles to a landing position and this is the Ready for Landing phase. Switch back to Two legs Standing is simply turn the ankle servo of the supporting leg in the other way, in this case the COP will slide towards the outer side of the foot due to the torque generated by the servo. When COM is not line up vertically with COP, it will fall into the free leg direction and land back into Two legs Standing phase.
Feedback: By using LewanSoul motors we getting voltage, Current, Temperature, or Motor position feedback, we will using motor position or angle as input of motor Forward kinematics: By using forward Kinematics techniques we move our robot or walk The above block diagram shows the flow of operation performed in the whole project.
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We are using a network of ten LX-.16A servos to control the motion of the humanoid biped robot. The ten LX-.16A servos connected to each other with a single cable, running from servo-to-servo and this network is connected to a LewanSoul servo debugger board, this board is connected with the STM32F303 (ARM® Cortex®-M4 core) through serial communication which act as the brain. The baud rate for the communication between the brain and the servo is 112500.
Walking pattern of biped robot has three most important factors ZMP, COM and COP. During the walking pattern the robot will start at Two legs stand that is one leg stand in front and the other stand rear. The reason for this is to move the COM forward in to the supporting area of the front leg and ready for the rear leg to lift over the ground. Since the robot is in static mode, the pivot point COP stays under the COM. Then next step is to transit forward into One leg Stand phase, during the transition the torque created by the turning of ankle servo will slide the COP towards the inner area of the support foot for a while, As when the COM is not sit vertically above COP, so the robot will lend on either side and lift the rear leg above the ground. When the ankle servo reaches the desire angle, the torque will disappear then the COP will move back under the COM and this is the One leg Stand phase.
The final step is moving the rear leg forward, turn the joint angles to a landing position and this is the Ready for Landing phase. Switch back to Two legs Standing is simply turn the ankle servo of the supporting leg in the other way, in this case the COP will slide towards the outer side of the foot due to the torque generated by the servo. When COM is not line up vertically with COP, it will fall into the free leg direction and land back into Two legs Standing phase.
Feedback: By using LewanSoul motors we getting voltage, Current, Temperature, or Motor position feedback, we will using motor position or angle as input of motor
Forward kinematics: By using forward Kinematics techniques we move our robot or walk
The above block diagram shows the flow of operation performed in the whole project.
Final Deliverable of the Project Hardware SystemType of Industry Manufacturing , Others Technologies RoboticsSustainable Development Goals Industry, Innovation and InfrastructureRequired Resources
| Elapsed time since start of the project | Milestone | Deliverable |
|---|---|---|
| Month 1 | Designing of parts of robotAssembling of parts of robot | Designing & assembling parts of robot |
| Month 2 | Developing skill in appropriate controller and programming language | Algorithm learning |
| Month 3 | Controlling on simple motion of Robot | Algorithm begging And finalizing |
| Month 4 | Developing algorithm for walking of robotFinal testing and debugging | Algorithm testing & debugging |