Linux, Embedded Systems, Networking, and DevOps Engineering

Humanoid Robot — Thesis Project

This humanoid robot was designed and built as my graduation thesis project. It walks, balances, and performs choreographed movements autonomously.

Demo Video

Table of Contents

  1. Demo Video
  2. Overview
  3. Key Features
  4. Hardware
  5. Software Architecture
  6. Challenges & Lessons Learned
  7. Results
  8. Related Videos
    1. Walking Test
    2. Motion Sequence Demo
    3. Balance & Stability Test
    4. Choreographed Routine

Overview

This project involved designing and building a bipedal humanoid robot from the ground up — mechanical structure, electronics, firmware, and control algorithms. The robot is capable of walking, maintaining balance, and executing pre-programmed motion sequences.

Key Features

  • Bipedal locomotion — stable walking gait using servo-based joint control
  • Multiple degrees of freedom — servos at each joint (hip, knee, ankle, shoulder, elbow) for human-like movement
  • Custom mechanical frame — designed and fabricated specifically for this project
  • Microcontroller-based control — real-time servo coordination and motion planning
  • Choreographed motion sequences — programmable routines for demonstration

Hardware

Component Description
Actuators High-torque digital servo motors
Controller Microcontroller (ARM-based)
Frame Custom aluminum/3D-printed structure
Power LiPo battery pack
Sensors Gyroscope/Accelerometer for balance

Software Architecture

The firmware handles:

  1. Motion planning — trajectory generation for smooth joint movements
  2. Servo control — PWM signal generation for coordinated multi-joint actuation
  3. Gait generation — walking pattern algorithms for stable bipedal locomotion
  4. Sensor fusion — IMU data processing for balance correction
  5. Sequence player — executing pre-recorded motion routines

Challenges & Lessons Learned

  • Center of gravity management — keeping the robot balanced during dynamic movements required careful weight distribution and real-time compensation
  • Servo synchronization — coordinating 16+ servos simultaneously while maintaining smooth motion
  • Power management — high-torque servos draw significant current; battery life and voltage stability were critical concerns
  • Mechanical tolerances — small misalignments in the frame accumulate and affect gait stability

Results

The robot successfully demonstrated:

  • Autonomous bipedal walking
  • Stable standing and balance recovery
  • Choreographed dance/movement routines
  • Repeatable and reliable operation

Walking Test

Motion Sequence Demo

Balance & Stability Test

Choreographed Routine

This project was completed as part of my undergraduate thesis, combining mechanical engineering, electronics, and embedded software into a single integrated system.