Project Biped

This site documents the hardware, firmware, and control software for building a bipedal robot from scratch. The project is structured as a series of milestones, with a robotic arm manipulator as the primary intermediate goal before tackling full bipedal locomotion.

Roadmap

QDD Actuators + CAN Bus

Motor hardware and comms

Robstride 00 Motor Control

Low-level control

6-DOF Arm Manipulator

Current milestone

Bipedal Locomotion

Future milestone

What you’ll find here

QDD actuator theory, Robstride 00 specs, CAN bus wiring and termination.

Hardware

CAN interface setup, Python/C driver code, motor control primitives.

Software & Firmware

Arm design, forward/inverse kinematics, trajectory control.

Manipulator

Leg design, balance, and locomotion planning (upcoming).

Bipedal Robot

Key Technologies

Robstride 00 — MIT-style quasi-direct drive (QDD) actuators
CAN bus — real-time multi-drop motor communication at 1 Mbit/s
Python / C — high-level scripting and low-level firmware
Whole-body control — unified dynamics-based control framework (bipedal phase)

Start with the Hardware section if you’re setting up for the first time.