# Robot description in the robot.yaml format, version 0.1.

format_version: "0.1"
name: Bipedal Self-Balancing Robot
summary: A self-balancing bipedal robot with 2-DOF legs and stepper-driven wheels, built from scratch with an ESP32 controller and dual IMUs.
category: other
difficulty: advanced
license:
  hardware: MIT
  software: MIT
source:
  repository: https://github.com/kairobyte/bipedal_self_balance
  ref: 929156125cdd697e9b757b221622ccd27d2c7b13
tools:
  - 3D printer
  - soldering iron
files:
  parts_3d: 1. 3D_Model/
  cad: 1. 3D_Model/
  electronics: 2. PCB_Design/
  images:
    - 4. Assets/hero.png
software:
  framework: arduino
specs:
  dof: 2
build_steps:
  - title: Model the parts in SolidWorks, building bottom-up from stepper holders to legs t
  - title: Design the PCB schematic and layout, run DRC, and export Gerber files
  - title: 3D print the parts and arrange them in the slicer
  - title: Assemble the 3D printed parts and complete the wiring
  - title: Flash the test code to confirm motors, sensors and RGB indicators work
  - title: Tune the PID controller over serial until the robot balances