Building NX09

Building simple biped robot with 4 servos.

Building NX09


1. Overview
2. Idea
3. System designing
    About Arduino
    About Servo
    About Battery
4. Structure designing
    About 3D CAD
5. 3D printing
6. Making servo shieldNow Preparing
7. Making wiring harnessNow Preparing
8. AssemblingNow Preparing
9. Basic structure of Arduino sketchNEW
10. Creating motions

1. Over view

We build simple biped a robot with 4 motors (servo). The appearance is this picture, and it walks like this movie.
NX09 Picture

Main Components

・Servo Micro2BB x4
・Arduino UNO Control board
・Servo shield (DIY with Sanhayato universal board)
・NiMH AA battery x4
・ battery
・Servo brackets and case made by 3D printer

You cannot understand what they are now, but I will explain them.

2. Idea

Firstly, what type of robots do you want to make? At the first stage You can't make some circuits by soldering or some parts by 3D printer. You should draw your robot on paper. I say "Ponchi-e" about such a drawing. It may be the best time to image the robot you want to build. I drew many Ponchi-e.
Poncho-ePoncho-e No.2

3. System Designing


・Servo x4 GWS Micro2BBMG
・9V Battery Power Supply for Arduino
・NiMH Batteries AA 1.2Vx4 Power Supply for Servos


About Servos

General DC motors rotate continuously if inputed constant voltage. The servo sustain specified angle. The angle value  is send as 0 - 180 degrees from Arduino. 

Arduino imputs angle 0-180° to servos. Actually,it trasmit pulse width according to angle.

description of servo

The servos of NX09   GWS Micro2BBMG

Micro2BB Torque              5.4kg-cm@4.8V
 Speed               0.17sec/60°@4.8V
 Weight              26.6g
 Dimensions       27.9mmx14.0mmx29.7mm

About Battries

Arduino UNO works in 9V battery. In case of operating servos, general alkaline and manganese batteries are not enough in capacity of current, so that we use NiMH batteies.

NiMH9V Battery

4. Structure Designing

The brackets for servos and control boards are made with aluminum plate bended and cut or 3D printed. Previously, I made brackets by bending aluminum plate. It is hard to make it, so that we make one by 3D printing in this project. I will explain how to make aluminum flames in another opportunity.

We design all parts by using 3DCAD Fusion360. 


  • 2017.11.25Basic structure of Arduino sketch was added.NEW
  • 2017.9.9Motion page was added.
  • 2017.6.183D CAD information was updated.

inserted by FC2 system