Introducing the Transformer

Controllers

1. Raspberry Pi 3 (may work with pi 2)
2. ESP32 Development Board (ESP32-WROOM-32 or ESP32 DevKit V1)

Servo Control

1. PCA9685 16-Channel Servo Driver Board
2. Female-to-female jumper wires (for I²C and signal)
3. Male-to-female jumper wires
4. E-stop switch
5. i/o switch

Motors

High-torque servos (structural joints)

Quantity: 6 Use for: 2 × hips 2 × knees 2 × shin/ankle hinges

Medium-torque servos (upper body)

Quantity: 4 Use for: 2 × shoulders 1 × torso hinge 1 × head or waist

Power System

1. 7.4 V LiPo battery
2. Capacity: 3000–5000 mAh Or the equivalant:
3. 2S1P 18650 (7.4 V, ~3500 mAh)
4. 2S1P 21700 (7.4 V, ~5000 mAh)
5. 2S2P 18650 (7.4 V, ~5000 mAh)
6. ~6 V high-current DC-DC buck converter (10–20 A minimum)

Structural Components (Body)

Structural Components (build up)

1. Cardboard frames

2. 3D printed parts (PLA or PETG ) Mechanical frame (end product)

3. Aluminium servo brackets

4. Steel shafts (4–6 mm typical)

5. Shaft collars

6. Bearings or bushings (recommended)

7. Fasteners

8. M2, M3 bolts and nuts

9. Self-tapping screws (for servos)

10. Washers

Wiring & Electronics Accessories

1. Servo extension cables
2. Breadboard (testing and prototyping)
3. Heat shrink tubing
4. Wire
5. Cable ties