ROFI is the fifth prototype from Project Biped.  It is a self-contained, bipedal robot that uses accelerometer feedback to balance. It has 12 DOF (degrees of freedom) and can walk around while avoiding obstacles using an ultrasonic range sensor. A small Android tablet in ROFI's head provides the brains and an Arduino Mega provides the hardware interface.  All of the designs, instructions, source code, and parts lists are provided for freeROFI was designed to be easily made by anyone with a low cost 3D printer and an interest in learning about robotics. Check out the FAQ if you have any questions.

Bipedal Walking 




Info Card

Printed Parts
Shopping List


 Computer  Archos 28, Android Tablet
 Microcontroller    Arduino Mega
 Actuation  12 DOF ( 55g servos)
 Sensors  Ultrasonic Range Sensor, 3 Axis Accelerometer
 Parts Cost    
 $350 (excluding shipping)
227g (about a 4th of a spool) 
 Build Time 
 30 hours : 25 hours printing + 5 hours assembly
17.75cm x 11.45cm x 30.5cm ( 7" x 4.5" x 12")

Robot Poser


Uploading Code


  • Robot Poser Beta Posted Robot Poser is a Windows desktop application that allows new action sequences and servo calibrations to be created for ROFI.  The application controls the robot via a USB cable from ...
    Posted Jan 1, 2013, 9:00 PM by Jonathan Dowdall
  • Software Posted All of the software that goes on the robot (both Android and Arduino) has been posted!  A new version of the Robot Poser is being tested right now and will ...
    Posted Dec 5, 2012, 9:47 AM by Jonathan Dowdall
  • Mini ROFI Model Made a 1/3 scale model of ROFI. It has all of the same parts as ROFI, but the electronics and servos are all printed (i.e. the robot isn ...
    Posted Nov 27, 2012, 6:01 PM by Jonathan Dowdall
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