Robust Real-Time Control System for a Compact 15-DOF Biped Robot

Abstract

This study presents a low-cost 15-DOF humanoid robot designed using Arduino to overcome the limitations of existing humanoid systems that rely on complex controllers, high-end processors, and computationally heavy whole-body coordination methods. The objective is to develop a compact, efficient humanoid capable of stable walking, turning, and head-tracking using lightweight motion planning and sensor-based corrections. The proposed method integrates simplified keyframe gait generation, servo-angle computation, and a real-time feedback loop implemented through Arduino IDE, enabling precise actuation across 15 metal-gear servos. Experimental evaluation shows improved servo angle accuracy by 12% and enhanced motion stability by 9% compared to baseline manual-tuned control. No external dataset is required, as all data are generated from robot trials. Results confirm that the proposed architecture ensures reliable, repeatable movement, offering a promising foundation for compact humanoid development.