Original Summary

Hi HN,<p>I wanted to share a 10-DOF bipedal robot with open CAD files that I built. In my opinion, it is a nice platform for studying robotics. The machine can walk, sit, stand up after falls, kick, turn, and so on. Many of its movements were completely unexpected discoveries for me.<p>Some specs: 8 LX-16A servos, 2 free joints, a Raspberry Pi or Arduino SoC. What was hard about the build? The 8-servo limitation and initial gait implementations.<p>CAD: all custom-designed STEP+STL parts: <a href="https:&#x2F;&#x2F;grabcad.com&#x2F;library&#x2F;nix-robot-1" rel="nofollow">https:&#x2F;&#x2F;grabcad.com&#x2F;library&#x2F;nix-robot-1</a><p>Code: I created an open-source Arduino library specifically for the LX-16A servos: <a href="https:&#x2F;&#x2F;docs.arduino.cc&#x2F;libraries&#x2F;lx16a-bus&#x2F;" rel="nofollow">https:&#x2F;&#x2F;docs.arduino.cc&#x2F;libraries&#x2F;lx16a-bus&#x2F;</a> The core libraries are open, but gait sequences are detailed in my book (more on that below).<p>Demo with all moves developed so far: <a href="https:&#x2F;&#x2F;www.youtube.com&#x2F;watch?v=Y30iI4bZyvg" rel="nofollow">https:&#x2F;&#x2F;www.youtube.com&#x2F;watch?v=Y30iI4bZyvg</a><p>Later on, I published a book for folks who want an absolutely precise guide on building it: <a href="https:&#x2F;&#x2F;nixrobot.pages.dev" rel="nofollow">https:&#x2F;&#x2F;nixrobot.pages.dev</a><p>Happy to answer your questions!

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  • 发布时间：2026/10/7 23:01:16