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16-Axis VIEON Humanoid Robot
ROBOTICSin progress
16-DoF Humanoid Robot from scratch β βΉ4,500
~30cmHeight
16Servos (DoF)
βΉ4,500Total Budget
5Build Phases
500gTarget Weight
2.5hrBattery Life
Full blueprint, wiring diagrams, servo maps, dimensions, cardboard structure guide, software stack, and phase-by-phase assembly for a beginner-friendly bipedal humanoid with offline AI voice.
Brain Stack
- ESP32-CAM β main MCU + Wi-Fi + camera
- VC-02 β offline speech recognition
- MPU6050 β 6-axis gyro/accelerometer
- PCA9685 β I2C 16-channel servo driver
- 0.96" OLED β face expressions
Actuators
- 4Γ MG996R β high-torque hips (11 kg/cm)
- 12Γ MG90S β all other joints (metal gear)
- Total: 16 servos, 16 DoF
Power
- 2Γ 18650 Li-ion cells (series = 7.4V)
- TP4056 USB-C charging module
- MB102 β 5V/3.3V logic rail
- Motor rail: direct from battery
- ~2.5 hr normal operation
Wiring β I2C Bus
ESP32-CAM GPIO21 (SDA) and GPIO22 (SCL) shared across PCA9685 (0x40), MPU6050 (0x68), and OLED SSD1306 (0x3C). Add 4.7kΞ© pull-up resistors on SDA and SCL to 3.3V.