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BAbout this program
467 stars on GitHub.
The Modular Bipedal Robot is an open-source 3D-printable companion robot from MakerForge Tech / Aaron Mason, built around a Raspberry Pi + Arduino split. The repo includes the full STL set for the v2 body, head, neck, and legs, plus a modular Python/C++ software framework with drop-in modules for vision, speech, motion detection, GPT chat, NeoPixel LEDs, RTL-SDR, and more. Source: https://github.com/makerforgetech/modular-biped
Architecture:
- Raspberry Pi (Pi 4 or Pi 5) handles vision, speech, and orchestration
- Arduino handles real-time servo control via serial
- Custom PCBs for power and IO
- IMX500 AI camera module supported
Software modules (drop-in):
- Animation, Tracking, Vision (face/object), TTS / Braillespeak
- ChatGPT / Translator (LLM-driven interaction)
- Servos, PiServo, Neopixel, Buzzer, Motion detection
- Serial bus, RTL-SDR radio, Viam integration
Build resources:
- Wiki & build guide: https://github.com/makerforgetech/modular-biped/wiki
- 3D-print files: https://github.com/makerforgetech/modular-biped/tree/main/3d_prints/v2
- Hardware list: https://github.com/makerforgetech/modular-biped/wiki/Hardware
- Software architecture: see Software Architecture.drawio.svg in repo
License: MIT.
🖨 Print Files (19)
skeleton.stl
STL
head_top.stl
STL
head_bottom.stl
STL
head_visor.stl
STL
neck_tilt_upper.stl
STL
neck_tilt_lower.stl
STL
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Required Hardware
~$45–$105 total
Slot 1
Raspberry Pi (BYOD)
Single-board computer running orobot firmware — bring your own hardware.
$35–$80
Where to buy →Slot 2
Arduino Uno (BYOD)
Arduino Uno — common controller for small servo-based designs like 4-DOF arms and bipedal walkers.
$10–$25
Where to buy →Product links updated May 30, 2026 · ✓ Confirmed fresh Jun 1, 2026
$260–$340 estimated
| Qty | Part | Notes |
|---|---|---|
| 1 | Raspberry Pi 5 (4GB) | Main compute — vision, speech, orchestration |
| 1 | Arduino Pro Mini 5V/16MHz | Real-time servo control via serial |
| 6 | SG5010 Standard Servo | Leg joints (hip, knee, ankle × 2 sides) |
| 3 | TowerPro MG92B Micro Servo | Neck pan/tilt + head |
| 1 | Raspberry Pi Camera Module (wide-angle) | Computer vision / tracking |
| 1 | SPH0645 I2S MEMS Microphone | Voice input |
| 1 | MAX98357 I2S Amplifier breakout | Audio output |
| 1 | 3W 4Ω Speaker | Audio playback |
| 1 | RCWL-0516 Microwave Radar Sensor | Motion detection |
| 1 | MPU6050 Accelerometer/Gyroscope (optional) | Balance sensing |
| 7× Adafruit NeoPixel / SK6812 LEDs | LED ring + body LEDs | |
| 3 | 18650 Li-ion Battery (3.7V, ≥2000mAh) | In parallel, main power |
| 2 | XL4015 5A Buck Converter | Step-down to 5V (Pi + servos separately) |
| 13 | 608ZZ Bearing (8×22×7mm ABEC-7) | Leg joints |
| 6 | 693ZZ Mini Ball Bearing (3×8×4mm) | Ankle/foot joints |
| 1 | Logic Level Converter (3.3V↔5V bidirectional) | Pi-to-Arduino signal |
| — | Custom Power PCB + IO PCB | Gerbers in repo; order via JLCPCB |
| — | M3 Screws + Nylon Spacers | Frame assembly |
Raspberry Pi 5 (4GB) ↗Arduino Pro Mini 5V/16MHz (SparkFun) ↗SG5010 Standard Servo ↗TowerPro MG92B Micro Servo (4-pack) ↗Raspberry Pi IMX500 AI Camera Module ↗SPH0645 I2S MEMS Microphone Breakout ↗MAX98357 I2S 3W Class D Amplifier Breakout ↗Mini Speaker 3W 4 Ohm ↗RCWL-0516 Microwave Radar Motion Sensor ↗MPU6050 Accelerometer/Gyroscope Module (optional) ↗WS2812B / SK6812 NeoPixel LED Strip ↗18650 Li-ion Battery 3-cell Holder (3x 18650 in parallel) ×3 ↗XL4015 5A DC-DC Buck Converter (3-pack) ×2 ↗608ZZ Skateboard Bearings 8x22x7mm (20-pack) ↗Custom PCBs (Power + IO) — Gerbers in repo, order via JLCPCB ↗Dupont Jumper Wire Kit ↗M2 M3 Screw Assortment Kit ↗
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