Modular Biped

467 stars on GitHub · MIT · MakerForge Tech / Aaron Mason

The Modular Bipedal Robot is an open-source 3D-printable companion robot from MakerForge Tech / Aaron Mason, built around a Raspberry Pi + Arduino Pro Mini 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. Source: https://github.com/makerforgetech/modular-biped

Architecture:

• Raspberry Pi (Pi 4 or Pi 5) handles vision, speech, and orchestration
• Arduino Pro Mini handles real-time servo control via serial
• Custom PCBs for power and IO
• IMX500 AI camera module supported

Software modules (drop-in):

• Vision/tracking: face/object detection, motion detection
• Speech/TTS: text-to-speech, Braillespeak
• LLM/translation: ChatGPT chat, language translation
• Peripherals: NeoPixel LEDs, buzzer, audio
• Connectivity: RTL-SDR radio, Viam integration, serial bus

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.

Printing

This is the coherent v2 print set. Modular Biped is an 8-servo bipedal robot (6 leg servos — hip/knee/ankle per side — plus 2 head servos). Print one of each part. The legs and feet are left/right mirror pairs (left_leg_upper/right_leg_upper, left_leg_lower/right_leg_lower, left_foot/right_foot); both sides are required and are not alternates.

The parts cover the skeleton, the front/back body case, the head (top, bottom, lid, visor), the neck/tilt mechanism, and the two legs with feet. Recommended print as drawn for the v2 design.

Note: the upstream source includes a file named complete (with a matching complete preview image) — this is a full assembled model of the whole robot used for visualization, not an individual printable part. It has been removed from this Print All set so the list yields each part once rather than printing a fused copy of the entire robot.