This robot is a bipedal robot for learning robotics that anyone can build. It is fun but complex enough to satisfy an engineering thought and effort. The system uses 8 LX-16A serial bus servos. I placed an Adafruit Metro board on it to run the C++ code. It can also work work on Raspberrry Pi.
The design of the machine is open and available on GrabCAD.
If you need to get all code and assembly guide, then code and the guide are in a book. The instructions are detailed so much that they show every screw and bolt in graphical drawings, explain all positioning precisely, and list Python and C++ code for all moves.
The full name of the book: Build the Bipedal Walking Robot: A DIY Guide to 3D Printing, Assembly, and Coding with Arduino and Raspberry Pi. By Nix Robot. Published in 2025.
You can also find it by ISBN: 9798278222026, 9798278612087.
Physical versions of the book are highly preferred due to large detailed drawings that are much better to view in a physical workspace.
So how to build one? And how to program it? Follow these steps to achieve the result.
- Obtain the STL files, review them, make an assembly plan. Or read the book with the ready-to-use plan.
- Source necessary parts. Electronics BOM (bill of materials) could be found here.
- Prepare your workspace and tools or go to a makerspace.
- Construct the chassis.
- Understand the mechanics and program the gaits and other movements, or again get modifiable examples and classes form the book.
Below is an example of the source code for one gait.
# Robot walks forward
import time
from robot import NixRobot
import os
if __name__ == "__main__":
STEPS = 20
DURATION = 800
FAST = 200
program_begins = "audio/program_begins.wav"
program_complete = "audio/program_complete.wav"
robot = NixRobot("/dev/ttyUSB0")
homing = (180.0, 23.0, 161.0, 110.0, 57.84, 220.0, 81.4, 129.0)
robot.homing_position(homing)
os.system("aplay " + program_begins)
i = 0
while True:
robot.move_all_servos((178, 42, 145, 110, 58, 228, 70, 129))
time.sleep(0.2)
i += 1
if i >= STEPS:
break
robot.move_all_servos((178, 21, 168, 110, 50, 216, 90, 129))
time.sleep(0.2)
i += 1
if i >= STEPS:
break
robot.homing_position(homing)
robot.disable_torque()
os.system("aplay " + program_complete)
This page (Nix Robot: Humanoid Gait) was last updated on August 27, 2026.
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