instructables

How-to: 17 DOF Humanoid Robot

by IgorF2

Assembling DIY robot kits is one of my favorite hobbies. You start with a box full of components organized in small
plastic bags, and ends with a mounted structure and several spare bolts!

In this tutorial I present how to assemble a kit of a 17 degrees of freedom (DOF) humanoid biped robot, i.e., a robot
with 17 servomotors: three in each arm, five in each leg and one for the head.

This type of robot can be used both as a children's toy (for kids over 12 years who want to become familiar with
robotics, mechanics, electronics, etc.) and for young people and adults who want to get a little more involved in
software programming. It can even be used as a platform for research and development. Probably you will not be
able to make a robot that practices parkour, like the Atlas, but you can try to make your robot walk, imitate
movements or even play soccer!
In this tutorial I present only how to assemble the kit and use the basic software, but the possibilities of control and
programming are numerous (and can be approached in future projects).

About the kit:

In this project I used the Sainsmart kit that you can find in the following link: http://bit.ly/2OdxSri

Merits:

Quality of the parts: the structure of the robot is entirely in aluminum and presents good
mechanical resistance. The material is susceptible to scratches during assembly, but will hardly
bend or break.
Spare parts: the kit comes with several spare bolts and nuts. It is reassuring to know that a lost
screw won't prevent you from finishing the assembly of the robot!
Tools: all necessary tools for assembly are included in the kit. You do not need any additional
apparatus (unless you wanted to do some welding, as in my case).
Electronic components: both the servomotors and the control board have been shown to be of
excellent quality. The kit even comes with a remote control that can be used to control the
movements of the robot, which wasn't explored in this tutorial.
Software included: for begginers, the software provided by the manufacturer will help you to test
simple movements and to program sequences of movements, without needing any programming
knowledge!

Flaws:

How-to: 17 DOF Humanoid Robot: Page 1

 Documentation: the kit doesn't have a good documentation available online, which can be a bit
frustrating at first. Some parts of the manual are only available in Chinese, and often refer to kits
other than the one used here.
Parts missing: despite the spare parts, it could come with a few more spacers to mount the circuit
and the front structure of the robot's body.
Power supply: The kit does not come with batteries or a specific power supply for powering the
motors (between 5 and 7.4V). It took some time to get the batteries right for the project.

https://www.youtube.com/watch?v=qDXOwiIbnl0

How-to: 17 DOF Humanoid Robot: Page 2

Step 1: Tools and Materials

The following tools and materials were used in this tutorial:

SainSmart 17-DOF Biped Humanoid Kit (link). This awesome kit has with everything you need to
built a humanoid robot: 17 servos, metal structure, bolts, nuts, etc. It already comes with the tools
need for assembling the chassis, which is great for beginners! Electronics and cables are also
included.
Solder iron and wire (link / link). You'll eventually need it to solder the battery pack and the on/off
button. So consider having a good solder iron and wire neaby.
18650 3.7V batteries (x4) (link / link). I used to power the whole circuit. This servos use between 5
and 7.4V. I used two 3.7V batteries in series for powering them. I used two packs in parallel for
more current.
2S 18650 battery holder (x2) (link / link). It can hold two 18650 batteries in serie, and can be easilly
be attached to the back of the robot.
18650 battery charger (link / link). Your batteries will eventually run out of power. When that
happens, a battery charger will come to your rescue.

The links above are only a suggestion of where you can find the items used in this tutorial (and maybe support my
future tutorials). Feel free to search for them elsewhere and buy at your favorite local or online store.

How-to: 17 DOF Humanoid Robot: Page 3

How-to: 17 DOF Humanoid Robot: Page 4
Step 2: Arms

Assembling the robot arms is the easiest and quickest part.

The following parts will be used on each arm:

U-shapped profile (x2)

C-shapped profile (x2)
Hand (x1)
Servos (x2)
Bolts (x10)
Nuts (x8)
Screws (x14)
Disk-type servo horns (x4)

The video above illustrates how to do the assembly.

For each arm, the following steps should be performed:

1. Attach one pair of U-shaped profiles (back-to-back) using four bolts and nuts. Use the Phillips
screwdriver in the kit to tighten the screws. At the end, you will have a profile in the shape of H.
2. Fit a servomotors inside on one side of the H-shapped profile. Fix the motor using seven screws,
three on the side of the servo motor with the metal shaft, and another four on the side of the
servomotor with plastic shaft
3. Fit the second servomotor to the other end of the H-shapped profile, similar to the previous step.
Position the servos so that both are with the metal axis facing the same side.
4. Fit the servo drive horn to the axes. In the metal shafts the appropriate discs (with some internal
teeth) and screws must be used for their fixing. The discs on the plastic side are free.
5. For wrist mounting, connect the metal profile of the hand to the C-shapped profile using four screws
and nuts.
6. Attach the hand to one end of the arm. The C-shapped profile must be connected so that its two
ends fit externally on the two discs of one of the servos. Align the holes and secure with 3 screws
on each side.
7. Repeat the steps above for the other arm.

In the next part I show you how to mount the robot's legs.

https://www.youtube.com/watch?v=7jSchyvDT2I

How-to: 17 DOF Humanoid Robot: Page 5

How-to: 17 DOF Humanoid Robot: Page 6
Step 3: Legs

The mounting of the legs of the robot is the most time consuming part given the number of motors used. The
following parts are used on each leg:

Foot (x1)
C-shapped profile (x5)
U-shapped profile (x2)
Hips (x1)
Servos (x4)
Bolts (x44)
Nuts (x16)
Screws (x25)
Disk-type servo horns (x8)

The video above shows how to do assemble the legs. The following steps must be performed:

1. Attach the first servomotor to the foot of the robot. The servo fits in the center of the foot (there will
be a rounded part for the shaft socket) and must be secured using six screws (three on each side).
2. Place a horn on each side of the servo, remembering that the disks are different for the plastic and
metal shaft.
3. Join two C-type profiles (back-to-back), with a rotation of 90 degrees with respect to the other. Use
four bolts and nuts to connect these two parts. After mounted this piece will be used in the ankle of
the robot.
4. Attach the ankle to the servomotor installed at the foot of the robot. One of the C-shaped profiles
should be attached to the two servo disks using three screws in each.
5. For the leg and thigh of the robot, the same type of assembly will be used. For the leg, attach a C-
shaped profile with a U type profile using four bolts and nuts. A servomotor should be placed inside
the end where the U-profile is and secured with seven screws (three on the metal shaft side and
four on the opposite side). Repeat this assembly twice.
6. Connect the ankle to the leg of the robot. The servo of the leg should be connected to the C-shaped
profile free end at the ankle, using six screws for connection between the two parts.
7. The thigh assembly should be performed in the same way as the leg, connecting the existing servo
in the thigh to the free end of the C-profile of the leg.
8. To connect the leg to the body (shown in the next step) it will be necessary to mount the hip.
Connect the hip (rectangular part) with a type C profile using four screws and nuts.
9. A servo must be connected facing the hip piece. This part has a rounded cavity to fit the servo shaft.
Use six screws to secure the servo. Then connect the horns to the axles using screws when
necessary.
10. Lastly, connect the hip to the thigh, just as in the previous sections.

In the next step I present how to mount the body of the robot and perform docking arms and legs.

https://www.youtube.com/watch?v=cH1W_WopxHI

How-to: 17 DOF Humanoid Robot: Page 7

How-to: 17 DOF Humanoid Robot: Page 8
Step 4: Body

Mounting of the body is the last part before you can start to play with the electronics. It's a quick one!

The following parts are used here:

Plain body part (x2)

Rounded body part (x1)
C-shapped profile (x2)
Servos (x4)
Bolts (x24)
Screws (x25)
Disk-type servo horns (x8)

The video above shows how to do assemble the body.

To assemble it, the following steps must be performed:

1. The body assembly is started by fixing the four servo motors in the body structure (flat triangular
shaped aluminum part). Install the two motors on each shoulder and the two motors on the pelvis
using a few screws for fastening.
2. Install the second body plate one on the top of the servos, using screws for fixing. Attention to the
screws on the inside, close to the shoulders
3. Place the horns on the four servos, using screws in the gears.
4. A C-shaped profile must be attached to each shoulder using four screws for attaching to the servo
horn.
5. Position the robot arms, fitting it on the C-shaped profile of the end of each leg to the motors of the
pelvis. Secure the legs using six screws.
6. Position the arms, fitting the servo at the end of each arm to the C-shaped profile C of the robot 's
shoulder. Attach them using six screws for each arm.
7. Install the servo of the head between the two body plates, using screws on both sides.
8. Finally, install the front of the robot. Use some spacers by securing them with nuts in front of the
robot. Install the rounded front part over the spacers using screws.

https://www.youtube.com/watch?v=VtT-77GiqI0

How-to: 17 DOF Humanoid Robot: Page 9

How-to: 17 DOF Humanoid Robot: Page 10
Step 5: Wiring Up

Once the metal frame is assembled, start with the electronics.

Attach four spacers to the back of the robot, securing them with nuts. Install the control plate over the spacers, and
use four screws to secure it. At this point, unroll the servomotors cables and connect them to the control board as
below:

S1 = Left leg foot

S2 = Left leg ankle
S3 = Left leg knee
S4 = Left leg tight
S5 = Left leg pelvis
S8 = Left arm hand
S9 = Left arm elbow
S10 = Left arm shoulder
S11 = Head
S12 = Right arm shoulder
S13 = Right arm elbow
S14 = Right arm hand
S16 = Right leg pelvis
S17 = Right leg tight
S18 = Right leg knee
S19 = Right leg ankle
S20 = Right leg foot

In my case, I chose to use batteries to power the robot. I fastened two battery holders to the back of the robot
using screws and nuts. I used two 18650 series batteries in each holder (doing so 7.4V). The battery packs were
then connected in parallel to have a larger current to drive the motors. The negative pole of the battery has been
connected to the control board GND. On the positive pole I installed a switch (supplied from the kit itself) to turn
the robot on/off. Solder the wires to the button and another piece of wire in the other terminal. This wire should
then be connected to the control board in the Vs terminal.

Despite having used batteries with considerable capacity, the autonomy has been very low. As the batteries begin
to discharge the servos may begin to shake, and may go so far as to make erratic movements.

https://www.youtube.com/watch?v=Q3KGzsnSy7U

How-to: 17 DOF Humanoid Robot: Page 11

Step 6: Software

To use the robot, install the software and drivers communication port and start the connection. Only
available on http://wiki.sainsmart.com/index.php/101- then turn on the servos power (be careful because
20-146 they can move violently to the starting position).

Download the file bellow and extract somewhere on The software presents a graphical representation of
you PC: the robot. Each engine has a sliding bar, which can
be used to choose the angle of each engine gasket. It
http://s3.amazonaws.com/s3.image.smart/download/1 should move as the buttons are triggered. In the
01-20-146/USC16.rar interface it is possible to save a sequence of
movements, with a gap between them. Choose the
Install the driver (usc_driver.exe) and then run the angle of each joint and add movement to the stack.
control software (rios_usc.exe). When you click play, the robot executes the
sequence of saved moves.
The usage is very simple. Plug the micro USB cable
into the robot on the PC. Select the appropriate

https://www.youtube.com/watch?v=Q3KGzsnSy7U

How-to: 17 DOF Humanoid Robot: Page 12

Step 7: Have Fun!

Thanks for reading my tutorial and watching the videos. I hope you liked them and that they would be useful in
some way, either to help in assembling your robot or to inspire you to carry out future projects. Do not forget to like
and share this project with your friends. Your support is very important! :D

This tutorial is participating in Toys contest. Be sure to check and give your vote!

If you still don't follow my tutorials, please take a look at those other projects. I hope you like them! https://www.inst
ructables.com/id/Joy-Robot-Rob%C3...

https://www.instructables.com/id/Wi-Fi-Controlled-...

https://www.instructables.com/id/Nunchuk-Controll...

https://www.instructables.com/id/Wi-Fi-Controlled-...

https://www.instructables.com/id/Wi-Fi-Voice-Contr...

And if you enjoyed this or other of my tutorials, and want to see more robotics content, Arduino or internet of
things, consider financing my future projects! Just bought a kit and feel that it needs a better documentation? Tell
me on the comments.

Please consider supporting my future projects with a small donation! :D

Bitcoin donation: Deposit Address = 1FiWFYSjRaL7sLdr5wr6h86QkMA6pQxkXJ

Paypal donation: igorfonseca83@gmail.com
Send me a kit, and I'll create some content on how to assemble it!

How-to: 17 DOF Humanoid Robot: Page 13

Hi, great tutorial!
One additional remark: in the poor documents on sain smart wiki it is mentioned that the servos
have to be adjusted to position 1500 via the software. I think this makes sense because this will
make the programming easier later. And also that the left leg/arm is mirrored to the right leg/arm in
terms which side of the servos- side with logo or black side. In see in your pictures/videos that you
paid attention to this. In the pictures/ videos of sain smart this is not the case.
What do you think?
BR
Jimmy
Please, can you post how to make this walk and do other stuff like getting up when fallen.

Hi there!
I'm still working on it. I'll post it here if I manage to do that... :D
just got mine, its all built. learning to use the software its pretty simple though im having trouble
getting the sequences right with things like walking and getting back up. I was wondering if you
could post your command lists or point me in the direction of a place i could download some as
information on this program seems pretty hard to come by.
Hi there!
Creating the movements is quite though. I've worked in a trial and error until I've managed to create
simple movements.
One of the problems is the definition of the starting angle for each joint, once it deppends on the
mechanical setup of the robot. If you connect given gear with an offset regarding someone elses
assembly, the whole command sequence would be different :/
Great tutorial! Is this arduino compatible?

Thank you! I'm glad you liked it.

It's Arduino compatible. You can use an Arduino the send commands to the control board using
serial communication. The control board will work as a slave unit.
I didn't try it yet, but will make some tests soon.
Nice Tutorial this is a very needed item, lots of those robot kits floating around and yes the chinese
partial instructions were not very helpful. Probably one of the best parts of your tutorial was the
item list especially for the batteries. Thank You. I did want to give a suggestion to you. I am not
sure if instructables allows you to edit the behind the scenes code for your pages, if you added the
attribute target="_blank" to your links, it would make it so that when a user clicks on them, they
would open as new tabs or new windows. Currently the way that the links are working is it opens
the links within the same window taking the user away from the tutorial which is not ideal. So for
example I used a link in the battery section ... this is how it looks currently <a
href="https://bit.ly/2K4DIOR">https://bit.ly/2K4DlOR</a&gt; but if you changed it to <a

How-to: 17 DOF Humanoid Robot: Page 14

href="https://bit.ly/2K4DIOR" target="_blank">https://bit.ly/2K4DIOR</a&gt; Hopefully you find that
tip useful, generally when people are clicking on those kinds of links they want to have your tutorial
page still open.
Hi there! I’m glad you liked it. I hope it would be useful to others as well.
Thanks for your suggestion regarding the links. I’ll try to fix them. :)

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