HORUS complete with Torso, Head and Arms for the first time! I hadn’t had time before to test it fully assembled.

The upper body adds  4-5 kg and increases significantly the height of the center of gravity. The  legs are strong enough to carry this additional weight but I need now to  tune the balancing algorithms and take advantange of the arms and torso to improve  balance.

A great week-end in the Cité des Sciences et de l’Industrie with Association Caliban !

Joints Control System

A new section dedicated to control system of the joints. It’s here.

You will find a detailed explanation about how to emulate spring / damper with actuators equipped with Force sensors. This can be very useful for those interested in haptic interfaces.

The video shows my first experiments, back to 2016, with an Arduino Due board.


On Horus Mk. I, I designed a smaller and cheaper board based upon dsPIC.

Any comment / feedback would be most welcome as Joint Control System is in progress and I am sure there is still room for many improvement !




Building HORUS Mk. I…

Welcome to this Blog dedicated to my Robotics experiments !



Humanoïd robotics is a fascinating exploration field either for the influence it might have in our lives or for the engineering challenges it represents. Watching Atlas from Boston Dynamics walking, running and even executing a perfect salto would have looked impossible not so long ago. The accelerating pace of innovations gives an insight of what humanoïd robots might do, good or bad, in a very near future…

I chose to make my own experiments on bipedal walk.  I wanted to put to the test my  skills in engineering, manufacturing, electronics, IT and System Control  on a very challenging topic. 

I manufacture all mechanical components, electronics boards and I write all the S/W used in my Robot. 

This Blog is dedicated to share my experiments on the manufacturing of HORUS Mk. I,  the progress of its walking abilities and the creation of the upper body.


Your comments and questions are welcome. Your feedbacks will be precious to improve and enrich the content of this Blog.

Arnaud Villeneuve

August 2018