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Welcome to the Modular Biped Robot Project Wiki! This project is an open source biped robot platform developed by Dan @ MakerForge.tech in collaboration with the maker community and partners around the world.
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.
There are currently several versions of this project,
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Archie is the original version, smaller and less stable. The detail of this version is still available only for reference.
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The current release is Buddy, which is a larger and more stable build. This is the build you should choose
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Future development is ongoing on Cody, which utilises more advanced components and is designed to be more robust and capable than Buddy.
Note: You may see references to version numbers in the software or circuits folder. Please remember that these version numbers do not correspond to the project version, but rather the version of the software or PCB design. Follow the guides in this wiki for the most up-to-date information.
The code is available in GitHub: View and Download
See the Software section of the wiki for more information on the code and how to use it.
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
You can also join our active Discord Community to post your questions, share your progress, and connect with other makers.
We look forward to your participation and the exciting advancements we can achieve together in the field of modular biped robots!
The item name or description can be used to source these parts. I have deliberately not included a supplier as we have members from all over the world and it is best to source locally where possible.
| Item | Quantity | Description | Notes |
|---|---|---|---|
| 3D Prints | MANY | Files are available via OnShape for printing | See the 3D Printing page for more information. |
| Power Source and Switch | 1 | USB-C PD power source & selector switch (toggle, single pole double throw) | 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. |
| XL4015 Buck Converters (DC-DC) | 2 | Buck converter modules. 5A rated | 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 | 6 | 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) | MPU6050 6-axis accelerometer and gyroscope module | For balancing the robot. Optional. |
| Resistors (Voltage Divider) | 2 (optional) | Resistors | Used only for monitoring battery levels. |
| Raspberry Pi | 1 | Raspberry Pi 5 | 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. Raspberry Pi AI Camera recommended. |
| Buzzer | 1 | 5V Buzzer - Breadboard friendly | For audio output. |
| Neopixel LED Ring | 1 | Adafruit Neopixel Jewel - 7 x 5050 RGB LED with Integrated Drivers | 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. |
| 90 degree header 40 pin | 1 | Angled Female to Male GPIO Header for Raspberry Pi5 | For connecting Raspberry Pi to custom PCB. |
| 3X4 Right Angle Male Headers | 2 | Used to connect the servos to the Arduino custom PCB. | Allows output of board to be reoriented to exit body at the correct angle. |
| Logic Level Converter | 1 | Logic Level Converter - Bi-Directional (3.3V to 5V) | For connecting Raspberry Pi (3.3V logic) to Arduino Pro Mini (5V logic). |
| Headers & Connectors | Various | 2.54mm standard headers and connectors (JST XH, Dupont) | For connecting components to custom PCB. JST XH 2.54mm 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). |
| Microwave Sensor | 1 | RCWL-0516 microwave sensor | For detecting movement. |
| M8 Bolts & Nuts | 6 | 6X 7.5m bolts and nuts for assembly. Min length: 45mm | Used for connecting 3D-printed parts and servos. |
| 608ZZ Skateboard Bearings | 13 | ABEC-7 bearings for leg and neck pan [8 * 22 * 7mm] | For smooth movement of the legs and neck. |
| 693ZZ Mini Ball Bearings | 6 | Small double shielded bearings for hip and neck tilt [3 * 8 * 4mm] | For smooth movement of the hip and neck tilt. |
| 30mm Glass Cabochon | 1 (optional) | Transparent glass cover for Neopixel Jewel eye | For the robot’s eye; can be purchased online. |
| Nylon Screws & Spacers | Various | M3 Hex Nylon Standoff Spacer Column PCB Fixed Plastic Screws | For assembling 3D-printed parts and components. |
| 40mm M3 metal bolts and captive nuts | 8 | M3 bolts and captive nuts for assembling the legs | Attaches the 3d printed parts of the leg joints |
| SPH0645 MEMS Microphone | 1 | SPH0645 MEMS Microphone | For audio input. |
| MAX98347 Amplifier | 1 | MAX98347 I2S amplifier module | For audio output. |
| 3W 4 Ohm Speaker | 1 | Small speaker for audio output. 3W 4 Ohm | For audio output. |
| Neopixel Capacitors | 5 | 100nF 0603 SMD Ceramic Capacitors | For smoothing power to the Neopixels. |
| SK6812 Neopixel | 5 | SK6812 Mini 3535 5050 SMD Addressable Digital RGB LED 4 pin Chip 5V | SMD to attach to custom Pi PCB. |
| Neopixel Driver | 1 | Adafruit NeoDriver - I2C to NeoPixel Driver Board - Stemma QT | For controlling the Neopixels via I2C. |
| SDR USB Reciever & Antenna | 1 (optional) | Nooelec NESDR Nano 3 USB OTG Bundle | Contains the antenna for the ear and the USB module. Read More |
| SDR Antenna Extension Cable | 1 (optional) | MCX Male Female to MCX Male Female 90 Degree | For extending the antenna to the ear. |
Note: If any of this information is outdated or incomplete please let me know in the community so I can update accordingly.
The Modular Biped Robot Project is an open-source project released under the GNU General Public License (GPL) Version 3 (GPLv3) license. This means that you are free to use, modify, and distribute the project and its components as long as you adhere to the terms of the license.
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GPLv3 explicitly allows for the software to be used for any purpose, including commercial use. This means businesses can use GPLv3-licensed software in their operations, modify it, and even sell it as part of a product.
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Distribution Requirements: If you distribute GPLv3-licensed software (modified or unmodified), you must also provide the source code or make it accessible, along with the same GPLv3 license. This "copyleft" provision ensures that the software (and any modifications) remains free and open-source for future users, which is the core purpose of the GPL.
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No Warranty: GPLv3 makes it clear that the software is provided "as is," without any warranty, so companies using GPL software should keep this in mind.
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License Compatibility: Any derivative works or combinations with other software must be compatible with the GPL. If a business combines GPLv3 code with proprietary code, the entire combined work may need to be licensed under the GPL, depending on the specifics of how the code is combined.
To summarize: Yes, you can use GPLv3-licensed project, but if you distribute it (especially if modified), you have to comply with the terms of the GPLv3, which include providing the source code and licensing it under GPLv3 as well.
For more information on the GPL license and its terms, please refer to the GNU website.