Asked — Edited
Resolved Resolved by rickymahk2013!

Humanoid Project Full Scale

Hi ,

i want to build a humanoid robot , that walk on 2 legs. i , figure i need strong servo´s that provite the weight. because my humanoid robot become about 190 cm high. but i not sure if i can use normal servo´s from the EZ-b developer kit. i think that is to weak to suport movement. also i want build a accu 12 volt or 24 in it. so he have power on is onw while. I hope someone can help me.

regards Michael

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Over 6ft tall? Very ambitious indeed... .... The only thing you can use regular sized servos for is maybe fingers, eyebrows, eye movement etc...You will need some seriously powerful servos/actuators for all other joints... The ezb4 would work well, but it sounds like it will be a very expensive project, though...


To expand on what Richard said, for a robot of that size, standard servos like those in the development kit won't work for the legs and arms or even for turning a head (assuming you want to turn the head and the head is the helmet).

The standard size servos would be good for moving small things and sensors.

To get some ideas of how you might build arms for a larger robot I would recommend you check out the LEXI project page:

As for walking legs for a full size humanoid, I don't know what to suggest other than in general you'll need some very powerful motors and gearing systems. Most robot builders with larger robots opt for a wheels drive train instead of legs because it removes many design problems and wheels systems to support a larger robot are numerous. Most folks obtain a powered wheel chair. PowerWheels children's cars also make good wheeled bases for larger robots.


RoboMicke, Looks like a very interesting build, a 6 ft. Humanoid. I also have a mannequin body I would some day like to use with EZB. I like your ambition, but I plan to use a wheeled base platform, like IRobot Create. Smaller biped robots are more practical, but don,t stop thinking big if that is your dream! Larger requires many more resources, power, time for specialty fabricating, and a much larger budget. The kit servos maybe can be used for wrist or hands. The helmet/head may be too heavy? HD DC motors may be a better choice. servo City has HD slower, stronger low geared servo units. Daves B9 build utilizes some HD DC motors. You will like EZ Robot, it is very versatile and advanced, with support for many platforms. Thanks for sharing and post any updates. Steve S


Looking at it, you'll want a very strong, sturdy frame to mount servos and circuits on.

The helmet head will need to be lightened to make it easier for servos to manipulate it.

Heavy duty servos from the store for a minimum for this project if you ask me. You'll need a lot of torque in this build, which means more expensive servos.

You would want it to be very light.

And personally, if you want to make it walk have it as a robot bottom with big feet to help it be balanced.

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I've been (kinda) secretly working on a life size biped for the best part of 2 years now, it's still in the planning stages and there have been a lot of "problems" to solve, more which have yet to be solved and most likely a bunch more I haven't even considered.

To be blunt, the servos used are a fair way down the road yet, unless you have already designed the framework and know the strength and weight of every limb on the robot. If you had done that already you certainly would know that standard servos are not near capable of lifting the mass of the arms or the legs.

Even once the frame is worked out, the servos figured out etc. you need to look at stabilising the 6 foot monster. Humans, by nature, can walk without consciously thinking about it, a robot can't. You need to think about how to program it to counter the shift in weight and centre of gravity while carrying out any programmed movements but you also need to figure out how you can counter those same shifts if it bumps in to something, trips, slips or gets knocked. You need to think about how it would protect itself as best it can when it falls... The list is huge!

There are many reasons why some robot makers will opt for a wheel/track based drive train over biped.

My hat is off to you for such a big project and as always I will be offering help when needed as will the community but I want you to be aware it is a mammoth project (I have pages and pages of sketches, calculations etc. for mine already, for the past 6 months to a year it's looked less and less likely it'll actually come to anything more than just theoretical plans due to the insane costs involved). But good luck!

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Wow, I love your enthusiasm and foresight. I will be following your build with a mixture of envy and excitement. Dont let the hiccups thst you may encounter discourage you from you goal. Good luck:D



thanks everyone. I would like to try it with strong servo s recommended to move the legs get moving. but those servo´s can be connected to the EZ-b v4? I have a lot of sketches created on what I hope to work. also, I have seen a youtube movie how I can best run the robot. If the robot walks I start with the arms. so can i see what is doing whit the gravity centre. and where can i find the right servo , that is strong enough?

thanks again ;)

best regards Michael


Here are some high powered servos Torxis servo

You're going to need quite a few of these... Yes, they can be controlled by the ezb4, however they should be powered directly via a large 12V SLA battery...

Have you considered starting small scale with the EZB4 developer's kit? Get a grasp of how this will work and then upscale from there? Your 6ft robot is already pushing $2500 (plus) in servo motors alone....

Not trying to discourage you, but as @Rich mentioned projects like yours can get seriously expensive....


If I were you, I would buy a JD or if your okay with spending about 1000 dollars, a bioloid. Making your first bipedal robot (and probably first robot, I think) a 6 foot tall monster is not a good idea. making a smaller robot will get you acquainted with the idea of humanoids and then you can slowly start to make a bigger one.

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@Richard - Let's just say I was looking for investors at one point as I cannot fund the project by myself (so far the estimated build cost, which is far from complete, is around 5 times as much as I earn in a year). This is why my project may never come off.

I echo Richard and Sudo above, start small, work your way up, learn the ropes, learn how to use the software but more importantly learn about how to efficiently engineer such a monster of a machine.


@Rich... Sounds like it was/is going to be quite a project.... I wish I could help, if not with financing, but maybe give you a hand in some areas I are relatively competent in... I am not suggesting you would have been interested in me or anyone else helping you... Sometimes it does get a little boring working on projects by oneself. There are times personally, I wish I had someone to bounce ideas off of....


@Richard - that is at least part of what the group here is for, to bounce ideas around! :)


@Justin... I here ya' ..... You guys come up with a lot of stuff I never would have thought of.... Even so, we can't share a pizza and some beer over it.... LOL;)


I like the idea that servo to use. ( high powered servos Torxis servo ) It seems to me to work. seen min and plus apart is by the signal. that makes easy for turns backwards and forwards. I love all the ideas that we can think of to help support my or others ' projects. I think for over 5 years to how I should draw up this project. I could find only one problem and that was the brain of the robot. EZ-B let it all seem easy in terms of programming. but I have to know for sure what this EZ-B v4 all can. as those recommended strong servo s that I need. I want to use a accu for the strong servo but it most get the signal from the EZ-B v4. It is almost certain that it's an expensive project. but I think the end result is worth the double. in japan you have been few professional humanoids robot on full scale. mine looks like asimo but then in terms of loop otherwise. I think I recommended per leg for 4 servo s need. who knows we could ever do that pizza whit beer....LOL ;)

if me project is a success ;) haha


@RoboMicke.... You sound determined, so I say go for it.... Keep us updated on your project.... You get Thor (I gave him a name, hope you don't mind) walking with an EZB4 for a brain you'll be a rock star here, dude....:)



I like that name Thor. ( Richard R ) ;) my project would be a bit slow to progress. but I'll keep you up whit updates

thanks again.;)

best regards



Great project goals.But Torxis servos start at around $300 to $900 dollars each.Sounds like a really expensing build.I believe these servos are being used on a humanoid robot called Charlie...


wow, that sounds great ( rickymahk2013;) ) can do 1 recommended motor 110, 260 & 360kg weight displacement? can This engine be connected to the EZ-B? if so i most give it a try;)

( rb550f ) do you have fhoto´s of robot charlie... i like to look at it.

thanks for the great info;)

best regards Michael


Yes, I have use that servo controlled by EZ-B! For first start, I recommend the motor 180kg. (not expansive)



( rickymahk2013 )

thanks a lot;) but the website you send me is chinees. i can´t read to order some servo. i like to use paypal to pay. that I could also not find. i give it a try to make clear what it means.

best regards




( rickymahk2013 )

here is my final question. how can i order from the website you send my.;) i have little trouble whit reading. like you see on the fhoto;) haha can you help to translate.

special thanks to you all for the great info. if my project is processing i will put some update fhoto´s.

best regards



If your using Google Chrome you can right click on the web site page and from the menu choose "Translate to ...." To to to Google's Translate web page and let it do it for you.


Hi the website page he Will translate but this one he do not On What i understand is that i put a zend adres on it. But i can't read or translate it :( What. you see on the fhoto is a order. I think i most put myn adres in it but where exectly. And What does the other things means? I Will try it again when i Come home.

Thanks for your help;)


hi everyone,

i will thank you all for the great help. i dont have the servo´s yet. i start experiment when i have the servo´s. i will put the update´s on this website;)

again thank you all

best regards Michael


hey all

it's not easy to place an order. on the website. I try to find another way. google translate was a little help. but he could not help me further. now I have to express ali found with the same engine. however, going to pay is not easy. especially because it do not have paypal. to pay. maybe I have to look at other websites. if I should use the servo motor. that richard recommended to me. but the servomotor which can do 180KG weight displacement. sounds more tempting because I do not know how heavy my robot become. I would like more suggestions.

best regards Michael


hi there,

finaly i have my order placed. now i have to wait. here i found it what i properly need.

thanks for the great help;)

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Wow, that was a real pain for you. How did you end up being able to communicate with the company selling it and how were you able to order this motor? I dont understand you last post. confused



well i can´t order from the chinese website Taobao. so give the try on alibaba / ali express. this one was better than the first one but by payment was it hard to come true. than finaly i found it. ebay was the answer and it have also paypal my favorite way to pay. it was hard i spend to much time to get there but i have now find it. I can only continue if my order is received. which is in November. till than i have to wait.

best regards Michael


I understand you may difficult to buy this parts. Maybe I can help to buy and ship to your side in HK if you don't mind! But not sure right now! Could you pls give me your full delivery address for asking the details and delivery cost. My email is


Hi Richymahk2013,

do you have my mail?

best regards Michael


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this my next problem. my computer will not run the software. if this not work so can i. so you see above picture. here is a previeuw what i gonna do.

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Did there error happen during the installation? Or when first opening the program? Or where you running something in ARC, like a script?


That's an odd error @RoboMicke. I assume it happened at runtime, yes? Or when you went to open the ARC application. Did you click "Ja" to view the help information? What did it say?

The error appears to be related to how the .NET framework hendels your computers location and default language settings. From MSDN

But, because the error code specifically tells you what the issue and gives you an option to view help notes, it is safe to say DJ and the EZ-Robot team are aware of this, because they set the error message to handle it.


Awesome @thetechguru! I can confirm you can change the decimal setting in Windows 8.x by using those directions.

Who knew those were there, LOL? :)



Who knew those were there, LOL? Smile

I have seen this before with some software I supported in my previous job, which was all written for North America and UK computers, but had worldwide distribution.

We wound up changing the software to handle other locale settings better, but unfortunately I have no idea what changes were made, so can't provide any advice for DJ on that front.



the problem is right at the start of the ez-b builder. when I click on yes I come on this link :

I do not know what to do.

the last update that made my computer. has changed my program. I have now with my email address to login instead of my old code I had. for the computer program are changed.

my computer can not stand on two days. then get my desktop black. and the computer icons will not to respond. it freezes. fortunately I can reboot the computer. and the weather seems to do normally. until there two days are over. then it starts again.

I'm going through my ideas. maybe I should run to the store and ask what I can do. as a last option.


Did you follow the directions given in the links? It seems you have a language issue with your version of windows. You need to change the decimal from a comma to a period:

Decimal Change If you receive the error, this is because your culture is not set to use a Period as a decimal separator.

Visit the Control Panel -> Region -> Additional Settings -> Change decimal from a , to .

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Thanks for the help;) its working. now i can start programming;)

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What did you do that rickymahk2013 helped you resolve?


@Dave Schupius

The thread was marked resolved a month ago when rickymahk2013 recommended some motors. Unrelated to the latest problem with the OS Locale settings.



rickymahk2013 helpt me out whit strong servo´s. also he helpt me whit order the servo´s.

Unfortunately, you can select one person who helped you at that time. all who have helped me earn the same tittle (you Helped resolve) I've generally everyone thanks for the good help.


my ez-b software is now good. I wanted to run a test. with my servomotor, but that was not good. because I could not find ez-b v4, WiFi in the list of the ARC software. my computer was able to find the wifi of the ez-b v4.

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Your ezb4 is still in AP mode... You can't use the scan tool for it until you put the ezb4 in Client mode..... Take this lesson EZB connection modes then the next one too...


according to the website, I must click the round icon

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when I do, I end up here.

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it should actually be this. at least I think.

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Perhaps I miss something. I just do not know what it is.


as I know how to solve this. I can change the AP mode in client mode.


This is sick dude.


Hi OakMot,

how do you mean by that? Besides you also have a nice humanoid project. can also walk on two legs? I finally got my first test with the servomotor. next step is to make frames for the servo motor. as soon as the servo motor is in its frame. I can finally program. it would slowly processing. maybe I have about three months a walking robot in home;)

best regards Michael


@RoboMicke.... "sick" in this case means good or cool... It's basically teenager slang for awesome....:)


oke ;p I was not sure. thanks Richard R



Yeah! Sorry. You're project is awesome. I'll be following your project to see how it goes.

I believe that if were going to build any robots with maximum potential, they need to be humanoid, at least to start. The reason being, we are introducing these machines into a world that is built around the human structure.

As cool as it is, wheels and treds for robots aren't practicable. The world we live in is based off of bipedal movement, so anything we build needs to have bipedal movement to reach the most potential possible. As steep as the climb is for humanoid walking robots, it needs to be started. The more of us work on it, the brighter the future for robotics.