Arduino rc humanoid robot with esp32, esp-now.







 

Project: Cancer ms Type: mini size humanoid robot height: 17cm Weight: 450g+- dof: 16 price: RM210 - 260 (USD50 - 65) Components : , esp32 dev board(doit) x1=RM22.9, 7.4v 450mah 25c lipo x1=RM21.4,charger x1=RM16, jst plug(depends on battery) x1=RM1,mini 360 voltage regulator x4=RM26.5, micro switch x1=RM1(estimate), m2 screws =RM10(estimate), petg filament=RM10(estimate) ,Total RM108. 8 Robot price without controller (estimate) : Mg90s version : RM108.8 + RM102 = RM210.8 = USD 50.59 Sg92r version : RM108 + RM146.9 =RM255. 7 = USD 61.37 Controller : esp32, 1602a LCD, push button switch, KCD1-101 switch 21*15mm, potentiometer X 2, voltage regulator, llpo 7.4v battery or standard 9v battery.(#tested with standard 9v battery but drain out too fast, not recommended *8/1/2022)  Controller estimate price : RM 80 (USD 19.2) Suitable servo: sg90s, sg92r, mg90s Micro controller: esp32 Battery :7.4v 450mah 25c lipo Voltage regulator : mini 360 voltage regulator x4 circuits diagram : https://drive.google.com/file/d/1ECddSGrexY__sImzy1n3zYSz0aCqyitc/view?usp=drivesdk 3d file: https://drive.google.com/file/d/1oSE5kCmHEWeCfNMilGctWOUmy63Na-pz/view?usp=drivesdk Knee shield : https://drive.google.com/file/d/1ttuE4M97jTYuCm5-9Zg6T726aDfolJAK/view?usp=drivesdk Controller 3d file + code: https://drive.google.com/file/d/1KlExYgjRidpdEujpI-1dKV2v0KD0YIhB/view?usp=drivesdk

updated 3d file: https://www.thingiverse.com/thing:4665051

                          https://cults3d.com/en/3d-model/gadget/arduino-humanoid-robot-cancer-ms


updated code: https://drive.google.com/file/d/1G04899J00Ub4wZHSPmXbQARcrNPEd0zH/view?usp=drivesdk


robot receiver + controller code: https://drive.google.com/file/d/1v_Bf7tqn4M1xDnKmdc8HedMAq_nHxD78/view?usp=sharing

3d printed robot part assembly





                                Robot circuits diagram



notice:  I didn't connect a switch between battery and servo voltage regulator, always remove battery when robot is not in use.

 Install  servo library 

Servo library                  https://robojax.com/learn/arduino/robojax_ESP32_Servo-Library-master.zip   





                                  Robot calibration





                          Robot controller circuits diagram


    origin esp-now ide

   https://randomnerdtutorials.com/esp-now-esp32-arduino-ide/     

                                 

   uploading code



tilt control




Redownload file from cults3d.com or thingiverse.com for 3d part and code






        Install mpu6050 library       

         https://randomnerdtutorials.com/esp32-mpu-6050-accelerometer-gyroscope-arduino/     

          

  More action












updated part: https://www.thingiverse.com/thing:4790214

updated code2: https://drive.google.com/file/d/1XWPF4yfL3xxsD_Bj16CPGj9OjVWvslbZ/view?usp=drivesdk


https://www.youtube.com/watch?v=u761HlaWkRk






components link:
        
Voltage regulator :  https://s.lazada.com.my/s.XTLil
                https://s.lazada.com.my/s.XTpW3
                https://s.lazada.com.my/s.XTHOR
Press button switch :    https://s.lazada.com.my/s.XTHNI
10uf capacitor(needed if esp32 failed to boot) :   https://s.lazada.com.my/s.XTpfV
M3 screw(only 6pcs needed) :  https://s.lazada.com.my/s.XTHLV


Comments

  1. UnknownDecember 25, 2020 at 5:37 AM

    Hi, what is the resistance value you are using with GND to point 15 on the ESP32 (Robot Controller) board.

    ReplyDelete
  2. Robot NutsDecember 27, 2020 at 2:09 AM

    1k

    ReplyDelete
  3. UnknownJanuary 3, 2021 at 5:17 AM

    can i use android app control robot?

    ReplyDelete
  4. kaledJanuary 4, 2021 at 6:58 AM

    This project is GREAT!!
    Congrats

    Could you make the files available in .STEP?

    ReplyDelete
    Replies
    1. Robot NutsJanuary 4, 2021 at 8:20 AM

      Not in short time, too busy lately, but You can try to change it with fusion 360(i think) , https://youtu.be/yO6hboYWnfM ,
      I try it later.

      Delete
    2. kaledJanuary 4, 2021 at 4:28 PM

      Thank you very much for this project!

      Delete
  5. DavidJanuary 29, 2021 at 10:26 AM

    Thanks a lot for this project
    Could you provide a can calibration stand file? It's not in the cancer code folder

    ReplyDelete
    Replies
    1. Robot NutsJanuary 30, 2021 at 8:08 AM

      https://drive.google.com/file/d/1sO2Wq-7mkOga1ctK3fcvOjqKK4d4MCG5/view?usp=sharing
      it also included inside the controller code txt, and all the code provided at description corresponding to my youtube video.

      Delete
  6. Robot NutsJanuary 30, 2021 at 8:14 AM

    sorry, i make a mistake, its in the robot receiver code, it should provided at cult3d file, i update the blogger later ,thank for the notice.

    ReplyDelete
  7. Stelok59March 22, 2021 at 6:43 AM

    A cool project, but there are links to the necessary electrical equipment on Ali Express or similar plots. so that you can more accurately buy what you need

    ReplyDelete
  8. Stelok59May 28, 2021 at 9:54 AM

    а винты М2 каких размеров используете?

    ReplyDelete
  9. Marsmellow7September 15, 2021 at 9:12 PM

    i have included the library Servo_ESP32.h in this link. but when i coplie cide #include , i get error in library, not such file, so, where i can get library?, what has been changed? (september 2021)

    ReplyDelete
  10. sampthOctober 2, 2021 at 10:18 AM

    how to find left and right leg and arm stl file

    ReplyDelete

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