12 DOF Humanoid walking legs Bi-Ped

thingiverse

So when I got into 3d printing I had already had in interest in robotics. So while learning to CAD I decided to give my go at designing some kind of humanoid bi-ped. Couple goals was to be simple and cheap. Even at 12 DOF and being close to actual human movement I believe I achieved that goal (maybe). Hardware - Servos - Designed from the ground up using cheapo RC servos, I used the MG996. Screws - I found some pretty cheap "laptop screws" m2x5 Drill bit - To pre drill the screw holes. I purchased a 1.6mm at Home Depot Controller of your choice - (see pretty simple) Printing - Unfortunately when I designed this thing, I did not take into account for ease of 3d printing. Also when I exported the STLs I did not orientate them for printing. They are exported as in the model. You will need to orientate them for what works best for you, and you will need to use supports. Print the leg 4 times. and print everything else once. Assembly - The servos were designed to mount flush to the brackets. So if you decide to use the rubber mounts, you will need to cut the back off so the tabs sit flush. Once the servos are mounted, you will take the nest piece, slide it over the servo end first and then connect the rear pivot. At which point you will then use your controller to center the servo - attach the servo horn while aligning the pieces to predrill your screw holes. Then screw the servo horn to the piece. My original thoughts were to use an Arduino Mega with a servo shield and a RC UBEC. But after I got done building the legs, I realized my "Hello World" coding skills were not up to the task of getting this thing to walk lol. So on the back shelf it went. But here it is, maybe some of you know how to get it up and running. Feel free to message or comment! .......................................................................................................................... The leg piece I noticed is a different STL than the picture. Ill see if I can get some time and update the STL. This monstrosity was designed in Sketch-up so if maybe you want the save file to continue the project, let me know.