How to make a biped robot and program it to dance

1. Components of the biped robot(兩足機械人的元件)

Appearance of a 3D print biped robot(由3D打印機製作的兩足機械人外觀)

Please see more in the video (請看以下錄像以獲取更多資料):

Component 1: Sensors(元件 1: 感應器)

A HC-SR04 ultrasonic sensor is used to detect distance.(HC-SR04超聲波傳感器是用來檢測距離。)

The HC-SR04 ultrasonic sensor uses sonar to determine distance to an object like bats do. It offers excellent non-contact range detection with high accuracy and stable readings in an easy-to-use package.(HC-SR04超聲波傳感器像蝙蝠一樣利用聲納來確定物體的距離,它提供了一個既易用又具有高度準確和穩定讀數的範圍檢測功能的非接觸式組裝。)

More information about HC-SR04 can be found at (下面連結提供更多關於HC-SR04的資訊):

Component 2: CPU (元件 2: 中央處理器)

An Arduino board was used as a CPU to control the robot.(使用Arduino電路板作為CPU來控制機械人。)

Arduino board senses the environment by receiving inputs from many sensors, and affects its surroundings by controlling lights, motors, and other actuators. (Arduino電路板通過接收來自許多感應器的信號來感測環境,並且通過控制燈,電機和其它致動器來活動。)

More inforamtion about Arduino can be found at(下面連結提供更多關於Arduino的資訊):

Component 3: Servos for mechanical actions (元件 3: 伺服摩打用於機械動作)


Four Tower pro 9g Servo motors is used to control the mechanical actions of two legs.(4個Tower pro 9g伺服摩打用於控制兩條腿的機械動作。

A Servo motor is a small device that has an output shaft. This shaft can be positioned to specific angular positions by sending the servo a coded signal. As long as the coded signal exists on the input line, the servo will maintain the angular position of the shaft. As the coded signal changes, the angular position of the shaft changes.(伺服摩打是具有輸出軸的小型裝置。通過向伺服摩打發送編碼信號,該軸可以定位在特定的角度。 只要編碼信號存在於輸入線上,伺服摩打將保持軸的角度。)

More information about servo can be found at (下面連結提供更多關於伺服摩打的資訊):

Component 4: Battery (元件 4: 電池)

Two 18650 Lithium-ion battery in parallel as the board with voltage step-up regulator is used to provide electrical energy. (用兩枚配以電壓升高調節裝置的並聯18650鋰電池作提供機械人能源的底板。)

Component 5: Bluetooth UART for Andriod phone control(元件 5: 藍牙UART用於Android手機控制)

A SPP-C Bluetooth UART or equivalent is used for external Andriod phone control. Bluetooth technology can be conceived as a wireless alternative to data cables by exchanging data using radio transmissions. (SPP-C藍牙UART或等同物用於外部Android手機控制。藍牙技術可以被認為是通過使用無線電傳輸交換數據來替代數據電纜的無線電。)

Component 6: 3D printed legs and body(元件 6: 3D打印的脚和機身)

Things files for 3D printing can be found at the link below(兩足機械人的Thingiverse 3D打印參考檔):

2. Instruction Guide on step by step assembling of a biped robot (兩足機械人組裝步驟說明書)


Instruction Guide on step by step assembling of a biped robot (兩足機械人組裝步驟說明書)

Click for Download: Installation guide.pdf

3. Instruction Guide on Design and Wiring (設計說明和接線指南)

Click for Download: Armor robot wiring.pdf

4. Video on the steps for assembly of a biped robot (關於裝配兩足機械人的步驟的視頻)

Click for Watching

5. Coding steps on programming a biped robot to move using App Inventor (使用App Inventor編程兩足機械人移動的步驟)

Click for Download: workshop material.pdf

6. Notes on different play modes to control robot with Android phone(編碼使用Android手機控制機械人的筆記)


7. Video on how to build a mobile app with App Inventor to control biped robot to move (關於如何使用App Inventor構建移動應用程式以控制兩足機械人移動)

Click for Watching

8. 'To infinity... and beyond!'('超越無限!')

Some more interesting video on possibility to use Arduino to make different kinds of robot for exploration. (一些關於使用Arduino探索做不同種類機械人的有趣視頻。)

i). Top 10 Arduino Robot Projects(十大Arduino機械人項目):

ii). HKU Computer Science MakeLab(關於香港大學計算機科學MakeLab):

iii). More information about the Biped Robot (關於兩足機械人的更多信息):

iv). The Arduino code for Biped Robot can be found at (關於兩足機械人的Arduino程式碼可以在以下網頁找到):