ROFI is the fifth prototype from Project Biped. It is a self-contained, bipedal robot that uses accelerometer feedback to balance. It has 12 DOF (degrees of freedom) and can walk around while avoiding obstacles using an ultrasonic range sensor. A small on board Android tablet provides the brains and an Arduino mega board provides the hardware interface. All of the designs, source code, and parts lists are free and open source. Detailed step-by-step animated assembly instructions are provided to allow anyone with a low cost 3D printer and an interest in learning about robotics to build ROFI.
A full overview (with source Blender files) can be found at the Project Biped ROFI website:projectbiped.com/prototypes/rofi
video of the robot:projectbiped.com/prototypes/rofi/video