12 DOF Humanoid walking legs Bi-Ped

thingiverse

So when I got into 3D printing, I'd already developed a strong interest in robotics. As I learned CAD skills, I decided to attempt designing a humanoid biped. My primary goals were simplicity and affordability. Even with 12 DOF and movement that closely mimics actual human motion, I believe I achieved my objectives (perhaps). Hardware - I designed the servos from scratch using low-cost RC servos, specifically the MG996. For screws, I used M2x5 "laptop screws" at a very affordable price. To pre-drill screw holes, I purchased a 1.6mm drill bit at Home Depot. Controller of Your Choice - It's quite straightforward (see below). Printing - Unfortunately, when I designed this project, I didn't consider the ease of 3D printing. Additionally, when exporting the STLs, I didn't orient them for optimal printing. You'll need to adjust their orientation for your specific needs and use supports. Print the leg four times, and print everything else once. Assembly - The servos were designed to mount flush with the brackets. If you decide to use rubber mounts, you'll need to remove the back section so that the tabs sit flush. Once the servos are mounted, slide the next piece over the servo end first, then connect the rear pivot. Next, use your controller to center the servo and attach the servo horn while aligning the pieces to pre-drill screw holes. Finally, screw the servo horn to the piece. Initially, I planned to use an Arduino Mega with a servo shield and an RC UBEC. However, after completing the leg assembly, I realized my coding skills weren't up to the task of getting this robot to walk. So, it went onto the back shelf. But here it is; maybe some of you know how to get it running. Feel free to message or comment! The leg piece in the STL file appears different from the picture. I'll see if I can update the STL at a later time. This project was designed in Sketch-up, so if you'd like to continue working on it, let me know.