RoboSavvy Humanoid Robot

by GrabCAD
*** Description of RoboSavvy Humanoid Robot V.1.4 ***

The robot is based on Bioloid GP, and all the aluminium the structural parts are same as Bioloid GP unless otherwise mentioned here. (Used the reference Bioloid GP model by Limor Schweitzer, found at Bioloid GP)

<b>Some minor changes are made to following structural parts of Bioloid GP.</b>
• FR04_E120
• FR04_E120
• Wrist (New aluminium sheet part)
• Fingers (New aluminium sheet part for fingers)
• Mirror_Wrist (New aluminium sheet part)
• Mirror_Fingers (New aluminium sheet part for fingers)

One extra AX12 servo is added (other than the existing servos in Bioloid GP) to allow the robot to rotate the chest. This makes the total AX12 count as 17.

<b>HXT900 Micro Servos</b>
The robot consist 5 of these micro servo motors; one for head tilt and two on each hand for wrist rotation and finger grasp.
Size: 21 x 12 x 22 mm
Voltage: 3v ~ 6v
Weight: 11g
Speed: 0.12 sec/60 (4.8V)
Torque: 2.5 kg cm

Capacity: 1600mAh
Voltage: 3S1P / 3 Cell / 11.1V
Discharge: 20C Constant
Weight: 125g (including wire, plug & case)
Dimensions: 77 x 40 x 27mm

<b>Beaglebone Black Embedded Computer</b>
Beaglebone Black is selected to be the brain of the robot, over Raspberry Pi; since Beaglebone Black seems to perform well compared to the price difference.
(Used the reference Beaglebone Black model found at
Also there will be two 3D printed cover pieces to hide and protect the board. The cover pieces are 1mm thick and can be manufactured using 3D printing or vacuum forming.
Even the Beaglebone Black is selected here for this robot; still it can accommodate either CM510 controller, Raspberry Pi or any other similar sized embedded computers in the place of Beaglebone without any modifications to the structure or shells of the robot. This is very important when considering further improvements for this open source robot.

Hema Pocket Webcam (Used the reference webcam model by Limor Schweitzer, found at Hema Pocket Webcam)

All the shell parts are designed as 0.5mm thickness. Only in the head there is a 1mm thick hollow rod to hold the servo shaft from which the head is tilted.
Many shell parts can be fixed after assembling the full robot, and there are few shells require early fix due to its geometry. For an example, head and thigh shells may require early assembly.
Read the ‘Beaglebone Black Embedded Computer’ section for the board protecting shell covers.

Your questions, suggestions and feedback are welcome. :)

*** Update V.1.1 (24th of September, 2013) ***

More internal parts are covered with shells (motors in back part of the leg).
Increased area of access with fingers (now it can hold a pen/pencil).

*** Update V.1.2 (1st of October, 2013) ***

Hip servos are covered with shells.
Modifications to hand shell (grip to hold pen/pencil).
Crawling (chest rotation with the an extra servo).

*** Update V.1.3 (2nd of October, 2013) ***

Head up and down tilt (with an extra micro servo).
Slight modifications to chest shell (to allow head tilt).
Camera position changed (allowing camera to move with the head shell).

*** Update V.1.4 (4th of October, 2013) ***

CM510 controller replaced with the Beaglebone Black embedded computer.
Slight modifications to head (to allow head to tilt up without being obstructed by the Beaglebone).