Let's Make Robots!

DuiBot1(8servo) && RYU(12servo)

4 legged, can be remote controlled or autonomous

Ok. This is an upgrade(control) for my 8 servo 4 legged walker... now its using an arduino328 clone. Currently, its still remote controlled via hacked cheap R/C car rx/tx electronics... more to add: if remote control is not used, will go to autonomous mode, using either IR sensor or ultrasound sensor.

currently, it only has 2 walking gaits (im still researching) and finding a *cool* walking gait :)



here it is shown, rest mode... RF reciever clearly shown.

here is a clearer shot of the RF receiver

the connections to the arduino, the tiny board next to it, the DC-DC aka mintyboost :) to power the arduino board (5V)...sorry the RF receiver is only taped. hehe

now for the servo connections, had to cut out a protoPCB strip..

now, the power source..3.6V 1300mA Li-ion Battery..

another view at the DC-DC power supply.. had to REALLY make sure it worked.. power goes directly to the 5V supply lines of the duino board, bypassing the 5V regulator! XD

more work (and coding) needs to be done here... the RF remote has 5 channels in it..Im still thinking WHAT to do with the last one, since its not being used .... maybe if I press that, it will do a DEMO mode..  another thing in my mind, if not remote controlled, will enter autonomous mode and walk forward/avoid obstacles.. but im still thinking what sensor to use here... :)


video... just a short teaser.. more to come eventually.... goodnight everyone(its about 10pm here)

=================2nd UPDATE MARCH 08,2012============================================

RECENT GOAL: program a *cool* walking gait

NEW GOAL: convert this 8 servo walker to a 12 servo

well... I have here a bunch of scrap "legs" from an existing dismantled 6 legged walker (18 servos), given by a store owner who also laser-cuts acrylic plastic sheets.. so I used them temporarily, to see if my -idea- both hardware & software works, AND IT DID! yay! :D ..... check out the 2nd video.. currently, the remaining 3 legs are "detached" at the moment... though seeing it move, seems like there is JUST? a little difference (walking = mechanically) as compared to using 8 servos... hmmmmm and hmmmmmmm

OK..here shown when legs are folded... better position than the other one..big difference (I admit)

Folded nice

and HERE, in its normal walking position.. not much of a difference as compared to the other, eh?

BUT.. can it do THIS? leg stretching? I dont think so.. LOL XD (hey no offense to the 8 servo walkers out there) :) so this is what makes the big difference (and more power too from battery) .....

again, till next time! :=)


==========================3rd UPDATE===============whew :) =====================

I need MORE CURRENT from the battery..so added another one.. so that means bot is much heavier than before.. PLUS the additional 4 servos.. woooo

close up view of the leg... yup its a plastic rule :=D .... liked the color! lol.. back supports? hmm maybe next time..


here he is, sitting.. and a mock-up of its head(sonar + servo)... :)

and yes its walking already (running actually).. I had to remove the duino board so I could add some more *gimmik* stuff.. sound/remote/sensors etc... so again, stay tuned !

==============UPDATE APR 11 , 2012===== new hardware=========================

ok, new chassis.. its from an electric ulitity box cover... this makes the weight distribution more balanced...

ok folks.. thats all for now :) cheers!

==================UPDATE UPDATE UPDATE :D ============================================

Ok I now name IT "RYU"... thats final :-)  bye duiBOT :_(

here shown the RF "module" taken from a cheap R/C toy...

ihow high it is, relative to ground...I like it low profile... :)

I really like this configuration... it can go (N)orth (E)ast (W)est (S)outh and rotate...

check out the video(WILL UPLOAD LATER).. its finally UP..whew :)

==========small update===========================APR 15==================================

removed the arduino clone board, bought a blank 328-PU, bootlloaded it and made a new board just for this walker...

the "programming pins" shown.. +5/Tx/Rx/GND(dot)....next update, replace the ORANGE chassis.. :D

======UPDATE UPDATE UPDATE april 20, 2012============================================

ok, just some minor mechanical updates.. made the legs a bit longer.. using blue acrylic plastic.. and changed the base color also to blue... :)

next update, maybe this will be an autonomous one, remove the remote control and add sensor switches at the feet + accellerometer, so that body will be parallel to ground.... :)

--------update april 21, 2012-------------

just a minor update.. I got me here a master/slave UART BT..just did some "echo" tests using virtual com port,and its all good :) *will* replace the RF module im currently using, so this means I could free up some more I/O pins..

Im using a breadboarded atmega328 duino, so Im planning to "tap" on the rx/tx pins, only other thing is, when I upload a sketch, I have to remove this module :).. and with this setup, I think I could use the PC virtual terminal as my remote control for this bot...have not done this yet, its still in my mind atm :D  next path: move on to using an android phone as my controller :) <next for learning, making android app>

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I have been looking on this website for awhile, at the robots (wahile the parts for my first one come in the mail:p ), and i have seen a bunch of walkers, and other things, they were all pretty cool, but there is something different about yours, idk what it is, but i like the design, the rulers add to it a lot in style. not that other robots were bad, i just like this one for some reason, post more videos, its good!!!

maybe that "something different" is the color? =) anyways, still in upgrade process, both hardware and controller (learning to use my uart BT atm)

yeah the color might be the thing, and one suggestion, instead of using an andrid or a pc (which would be cool) i thinjk you should get another microcontroller, and hook up a psp analog stick, and other cool buttons to it, then use it to wirelesly controll the robot.

You have kept this updated and well documented. I am impressed.

Extremely awesome bot you've built in the end and you've given me ideas. It looks like I too will shift to a crab instead of a 2 wheel rover. ;) congratulations once again.

thanks. :-)

Hi I'm new to LMR, how would you go by making it autnomous and controlled? For school we have a project that gives us 6 months, to build animal robot, I'm thinking of making a dog that walks and has distance sensors, so it doesn't collide into walls Etc, what do you think? any animals you could suggest I make, because I hae no idea, what to make :(


thanks :)

Hi AntAmo,

     I see you asked about autonomous (able to move around on it's own) and controlled (goes where you tell it to go by using a controller).

AUTONOMOUS MOVEMENT: To have the robot move around on it's own, you need a "brain" for it. The cheapest and easiest way to put a brain on your robot is to use a microcontroller. (You will sometimes see these called:  μC, μ-controller or, since the letter mu meaning micro is not on most keyboards, many people use the letter 'u' instead, so you might see uC or uController),

What to buy? The cheapest and easiest to work with is the PICAXE, but the Arduino is not too bad either. The cheapest ones have 5 or 6 connections that can be inputs or outputs, depending on the programming, and only cost from $2.50 to $4 each. Both Arduino and Picaxe will also need a cable to hook them to a computer so you can send them the program you want them to run. These can cost from $3 up to $20, depending on where you get them.

You also need either regular motors, stepper motors or servos to move your robot or parts of your robot. For the robot to move without running into things or getting stuck, it will also needs sensors. You can use IR sensors, ultrasonic sensors or even radar ones to act like the robot's eyes and ears. These all send out a signal of either light or sound or microwave radio and if it hits something and bounces back the robot picks it up and knows there is something there.

You could also use a small TV camera, but these are much more complicated to program, and even people who have been building robots for a long time hesitate to get into this type of sensor.

Now let me get into programming. I will only mention Picaxe and Arduino, since these are the best choices for someone starting out.

Picaxe chips use their own version of Basic language. Arduinos commonly use a language called C (or actually C++).

Here follows an example of both. This drawing shows what needs hooked to each board for the following programs:

Here is one way to program an LED to light up on a picaxe board. Let us say we hook the LED to pin 6 (like in the picture above).

    HIGH 6                          ; turn on the LED
    pause 1000                    ; wait one second (1000 milliseconds)
    LOW 6                          ; turn off the LED
    pause 1000                    ; wait one second (or you could use  WAIT 1  for a one second delay)
goto main
                          ; jump to the label called 'main' to repeat. 


Here is a similar program to flash an LED on an Arduino board. Again, we will hook the LED to pin 6 (as in the diagram above).

#define LED_PIN 6
void setup () {
    pinMode (LED_PIN, OUTPUT);     // enable pin 6 for digital output
void loop () {
    digitalWrite (LED_PIN, HIGH);  // turn on the LED
    delay (1000);                  // wait one second (1000 milliseconds)
    digitalWrite (LED_PIN, LOW);   // turn off the LED
    delay (1000);                  // wait one second


You can see right off that the languages are similar enough that you get the idea what is happening. For instance the comments on the right are not part of the actual program but are there to explain what is happening. But you should also see that there are some differences too. C language is a little harder to use because it has some requirements that picaxe basic does not.

C programs MUST contain two sections written  "void setup ()"  and  "void loop ()". Even if the "void setup ()" were empty, the label must still be there. Another rule is the any instructions in the setup or loop sections must be set between curly braces { and }. Any arguments such as 1000 after the delay instruction must be enclosed in parentheses ( and ). The last requirement you see here is that every instruction must end with a semicolon (;)


Now for CONTROLLED MOVEMENT: This is easy for a robot that already has a "brain" chip.

Whether you use a wired controller, a radio controller or even an IR controller (like a TV remote) the signal coming in from the receiver on the robot will be hooked to unused inputs on the micro-controller. While the brain is running its program, it can also check those inputs to see if there are any new commands from the hand controller. If so, do it. (run motors, turn wheels, or light LEDs)

If no signal from the hand controller, then continue the rest of the autonomous program instead.

I might also note that the simpler to use picaxe already has the ability to read TV remote IR signals built in.

Finally, I recommend that a beginner use the PICAXE because it is cheaper in general and it is easier to learn and use.

Freely download the three manuals at http://www.picaxe.com/Getting-Started/PICAXE-Manuals/

Information about Arduinos may be found at: http://arduino.cc/en/Guide/HomePage


I hope this information helps you.

Thank you so much, this information is very helpful :)

They're going to be supplying us with an eLab16m microcontroller, although I'm not sure if that is picaxe or adruino, or maybe it isn't. Our electronics teacher isn't that best, we are allowed to purchase our own components, will this microcontroller do for atunomous movement? or would the others one's you stated are better? I'm thinking of using servo motors for my robot, I think 8 will be used.Is it possible to press a button to make it autonomous/ controlled, or is that more advanced ?


thanks :)

there is a language that I am planning on using for my first robot. It is called JAL or JALv2 depending on how technical you want to be. www.justanotherlanguage.org

There are a number of available libraries and the number of supported PICs is growing.

I forgot to mention. It is a free language.