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Otto DIY Robot Walking - Quick & Easy to Do Tutorial
2026-07-24 | By Ron Cutts
License: GNU Lesser General Public License Microcontrollers Motors Arduino ESP32
In this tutorial, we will learn how to easily program the Otto DIY Robot to walk.
Watch the demonstration video.
What You Will Need
Otto Robot: See the instructions on how to build it in a few steps here.
Visuino program: Download Visuino
Start Visuino, and Select the Arduino UNO Board Type
To start programming the Arduino, you will need to have the Arduino IDE installed from here: https://www.arduino.cc/.
Please be aware that there are some critical bugs in Arduino IDE 1.6.6. Make sure that you install 1.6.7 or higher; otherwise, this will not work! If you have not done so, follow the steps to set up the Arduino IDE to program Arduino Nano! The Visuino: https://www.visuino.eu also needs to be installed. Start Visuino as shown in the first picture. Click on the "Tools" button on the Arduino component (Picture 1) in Visuino. When the dialog appears, select "Arduino UNO" as shown in Picture 2
In Visuino, Add Components
Add Components:
Add 2X "Analog Value" component
Add 2X "Divide Analog By Value" component
Add 2X "Sine Analog Generator" component
Add 2X "Servo" component
In Visuino Set Components
Select "AnalogValue1" component and in the properties window set "Value" to 20
Select "AnalogValue2" component and in the properties window, set "Value" to 20
Select "DivideByValue1" component and in the properties window set "Value" to 180
Select "DivideByValue2" component and in the properties window set "Value" to 180
Select "SineAnalogGenerator1" component and in the properties window set "Phase" to 0.65, "Frequency" to 1, and "Offset" to 0.5
Select "SineAnalogGenerator2" component and in the properties window set "Phase" to 0.5, "Frequency" to 1, and "Offset" to 0.5
Select "Servo1" and set the name to "LR1" << we set this for easier understanding. This means leg right.
Select "Servo2" and set name to "FR1" <<This means Foot Right
Select "Servo3" and set name to "LL1" <<This means Leg Left
Select "Servo4" and set name to "FL1" << This means Foot Left
In Visuino Connect Components
Connect "AnalogValue1" component pin[Out] to "DivideByValue1" component pin [In]
Connect "AnalogValue2" component pin[Out] to "DivideByValue2" component pin [In]
Connect "DivideByValue1" component pin [Out] to "SineAnalogGenerator1" pin[Amplitude]
Connect "DivideByValue2" component pin [Out] to "SineAnalogGenerator2" pin[Amplitude]
Connect "SineAnalogGenerator1" pin[Out] to "LR1" component pin [In] and "LL1" component pin [In]
Connect "SineAnalogGenerator2" pin[Out] to "FR1" component pin [In] and "FL1" component pin [In]
Connect "LR1" component pin [Out] to Arduino Digital pin[3]
Connect "FR1" component pin [Out] to Arduino Digital pin[5]
Connect "LL1" component pin [Out] to Arduino Digital pin[2]
Connect "FL1" component pin [Out] to Arduino Digital pin[4]
Note: Please check that Arduino pins[2,3,4,5] match the connections on your servo motor shield for the leg and foot, and change them if necessary.
Generate, Compile, and Upload the Arduino Code
In Visuino, Press F9 or click on the button shown in Picture 1 to generate the Arduino code, and open the Arduino IDE
In the Arduino IDE:
Click on the Menu "Tools" and select the Board "Arduino Nano" (Picture 2)
Click on the Menu "Tools" and select the Port
Click on the Menu "Tools" and select the Port
Click on the Upload button to compile and upload the code (Picture 3)
Note: If you find some problems uploading the code, you can click on the Menu Tools>Processor:..>ATMega328P (Old Bootloader)
Play
If you power the Otto Robot, it will start to walk.
Congratulations! You have completed your Otto project with Visuino. Also attached is the Visuino project that I created for this. You can download it here.
You can download and open it in Visuino: https://www.visuino.eu
