Humanoid Bipedal Robot

A professional Humanoid Bipedal Robot controlled via IR remote, featuring 15 degrees of freedom and intelligent obstacle avoidance.

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📸 Visuals

humanoid-vid1.MOV	humanoid-vid2.MOV

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✨ Features

• 15 Servo Articulation: For complex bipedal movements and expressive gestures.
• IR Remote Control: Seamlessly switch between 16 different movement modes.
• Autonomous Obstacle Avoidance: Integrated HC-SR04 ultrasonic sensor for pathfinding.
• Non-Blocking Logic: Implementation of millis() for fluid, simultaneous multi-servo coordination.

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🛠 Tech Stack

• Microcontroller: Arduino Micro
• Actuators: 15x High-Torque Servos
• Communication: IR Receiver (DIYables Protocol)
• Sensors: HC-SR04 Ultrasonic Distance Sensor
• Power: 220V AC to 5V DC Industrial Supply (40A)

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🧠 Challenges & Solutions

🏗 Movement & Calibration

Challenge: Calibrating 15 servos to achieve stable bipedal walking was extremely difficult. The robot's balance depends on precise synchronization of multiple joints. Status: While the robot is functional, it is still a work-in-progress. I am constantly refining the gait patterns to achieve "perfect" stability.

⚡ Power Supply Issues

Challenge: I initially struggled with insufficient power. Standard batteries or low-current adapters couldn't supply enough current to all 15 servos simultaneously, causing them to stall, shake, or fail to lift the robot's weight. Solution: Switched to a robust 220V AC to 5V DC (40A) power supply. This provides more than enough current (40 Amperes) to drive all actuators at peak torque without voltage drops.

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🚀 Getting Started

Prerequisites

• Arduino IDE
• Libraries:
  • Servo.h (Standard)
  • DIYables_IRcontroller

Installation

1. Clone the repository:

   git clone https://github.com/ELMER369-code/Humanoid-Bipedal-Robot.git

2. Open final-micro-no-detached.ino in Arduino IDE.
3. Connect your Arduino Micro.
4. Select the correct Port and Board in Tools.
5. Click Upload.

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🎮 IR Remote Mapping

Key	Action
0	Emergency Stop / Center Servos
1	Auto-Walk (with Obstacle Avoidance)
UP	Forward
DOWN	Backward
LEFT	Turn Left
RIGHT	Turn Right
OK	Neutral Pose

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📜 License

This project is licensed under the MIT License - see the LICENSE file for details.