WP-1 (Windows Biped)

This is my first valid attemp at creating a walking robot.

The biped uses the same software as I use on Evo except that it now has to control a walking gait for Forward, Right and Left.

It uses 4 MG995 servos for the legs and one Parallax servo for the cam.

The servo controller is the Veyron.

It is powered by one 3.7v 2200 LiPo cell.

It uses the Logitech C170 WebCam for its vision.

It runs on Windows 8.1 that is on a 8" off brand tablet.

Here is a link to a video of it walking.

Here is another video of the BiPed Walking.

Work is continuing to progress on the biped, not much has changed in the structure of the bot.

What has changed is the software.

The walk cycle has become more efficient to save battery power, previously when the bot would come to a stop the servos where still holding position which is consuming power. Now when the bot comes to a stop the servos no longer hold position so power is removed from the servos.

The moves used to turn right and left have also changed to a longer stride to make the turn to right or left happen quicker. Before it would take 6 strides to make a left or right turn, now it only takes 4.

Features have been added to the software to allow for controlling the bot via voice commands. By saying stop the bot will stop and roaming is turned off, also the video feed can be turned of via voice.

I added the ability for the bot to recognize colors, if you say color it will then tell you "I see the color (and the color)"

Here is a updated image of the software. New video to come soon.

After lots of work and hours of frustration I was able to make this little bot perform quite well.

Now its time to move on to more servos and a better walking gait.

While this bot is still in tact I have removed the servo control board and the cam to repurpose them into a better model.

Forward we march onto a better design.


Submitted by Roxanna77 on Fri, 2016-01-01 19:14

Roxanna77's picture

Great work Jeff! Awesome use of a Windows tablet. Really dig the camera leveling feature.

 Any reason not to have the tablet screen vertical?

Submitted by JeffRo on Sat, 2016-01-02 05:04

JeffRo's picture

Thanks Roxanna for the compliments.

There is actually a couple reasons for the tablet not to be vertical.

1) If it was to fall over it could possible crack the screen.

2) To keep the center of gravity as low s possible.

Submitted by maelh on Sat, 2016-01-30 07:18

I like how it's made of traditional components and not relying on a 3d printer. Makes it more accessible to build yourself.

It's funny how this robot carries its brain (tablet) and how heavy it seems to be judging from its gait.

Will you integrate this with your motion planner software (line follower software)?

Submitted by JeffRo on Sat, 2016-01-30 08:21

JeffRo's picture


Yes using traditional material I have enjoyed and in some way makes the build a little more creative.

The tablet weighs less than 2 lbs and I was surprised that it would carry the weight. I tried to keep the center of gravity down by laying the tablet flat rather than standing it up.

I have recently purchased another tablet with a cracked screen that I will be taking apart and using. The board on the new tablet is 2"x4" and the battery is roughly twice that size. The combined weight between the board and the battery is about 1/2 lb so this will allow for me to then build up and create the torso and head and still keep the weight very light.

I am not sure what you mean by the line follower software, in a traditional sense when you say line follower software I think of line of black type tape on the floor. If this is what you are meaning then no, as I have never used software for following a line like that. If you are meaning the software that allows you to draw a line and it follows it then eventually yes. For now it seems to do a good job on it own in navigating around by detecting the distance to an object.

I also have to add the I am currently debating on going with 3D printed material.

Submitted by TitiMoby on Fri, 2016-02-12 05:06

TitiMoby's picture

Nice biped!

You mention the use of a 3.7V LiPo: is it enough to run the MG995 servos?

Submitted by JeffRo on Sat, 2016-02-13 10:33

JeffRo's picture

Thanks for asking.

Yes, I use 3.7 at 2200 mah batteries.

I get about 45 minutes of run time.

Will be switching to a 3.7v at 5000 mah very soon so the run time will be greater but then I am also redesigning the bot so it will have 4 servos per leg.

Submitted by TitiMoby on Tue, 2016-02-16 04:02

TitiMoby's picture

I'm no expert and I'm trying to understand what power is needed.

When I read the servodatabase page I thought it was 4.8V minimum.

I remember my Gipsy quadruped was jittering with 5V and it was 9g mini servos.

I really need to improve my basic knowledge of powering all my stuff ;)

Submitted by nschreiber0813 on Sun, 2016-05-22 13:36

nschreiber0813's picture

Dear: Jeff

I love it!!! You built Bob the biped 2.0!!! Was it 3D printed? If so where are the files? Thanks!!!

From: Noah