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The path towards the goal of a creating a dynamically balanced, autonomous, bipedal robot has many steps.  Rather than waiting until the final robot is finished to share any content, each prototype is published here.  Hopefully this will allow others to follow the progression of the project and learn from our mistakes and successes. The prototypes are presented with the most recent first.









5   ROFI : Android based walking bipedal robot  
  • Android tablet for the brains, Arduino mega for the brawn
  • Uses an accelerometer to do partial balancing
  • Easily fabricated on a home 3D printer
  • Uses sensor feedback to avoid obstacles



4   FOBO : Autonomous statically balanced walking bipedal robot  
Autonomous statically balanced walking robot that is easy to build
  • Uses lithium polymer battery for autonomous functionality
  • Statically balanced 
  • Easily fabricated on a home 3D printer
  • Uses sensor feedback to avoid obstacles

3   ROTH : Statically balanced walking bipedal robot  

Bipedal robot that can walk statically using sensor feedback
  • Parts to be fabricated on a home 3D printer
  • Uses servo actuation with position feedback
  • Uses Android device for control and user interface

2   PRODOS: Simple limb chain actuation 

Bipedal robot that can perform "walking animations"
  • Parts can be fabricated on a home 3D printer
  • Uses servos
  • Uses an Arduino microcontroller
  • Has a user interface

1   GIMPy: Robot model  

Goal is to learn 3D fabrication techniques
    • Parts can be fabricated on a home 3D printer
    • Create simple static 2 legged model