Please tell me, how about right foot servo motor's motion, when you initialize your Rapiro's servo motors?
(See 'Assembly manual' #53 http://www.rapiro.com/assembly-manual/#53)

Thank you for your answer!

I don't exactly remember. When I initialized it, I didn't look at each particular servo so I can't tell. I only remember that all(I think) of the servo motors made a whirring noise and the white things on the motors turned.

Thank you for reply!

Where did you connect noisy servo motor to Rapiro circuit board?
If you change noisy servo motor's position on Rapiro circuit board, what condition your Rapiro and motors?

If same motor is noisy as ever, when will you change servo motor's position, I think to the motor has defect. Please send Email to defect@rapiro.com.

Thank you for your advice!

I fiddled about with the servos and found out that the L foot_p was the cause of the problem. I have taken out every motor except one and tried it. Every thing works OK, but when I attach L foot_p, the left foot moves up a little and the buzzing goes on continuously.

I also have found out that if you lift the foot up, the buzzing stops.

This is my rapiro-I uploaded it onto Youtube.
http://youtu.be/R08PMS0TKMA

Thank you for uploaded the video.

I think you should make initial adjustment of servo motors degree with Arduino IDE.
Please see manual page. http://www.rapiro.com/assembly-manual/#206

Thank you for your advice.

I have initialized the RAPIRO with the numbers on the manual.This is my initialization code.If it's OK, could you check it?When I initialized it, the movement changed.Here's my RAPIRO:

http://youtu.be/_vZxXE_NN2M
http://youtu.be/TqOwQnT10w0

---------------------------------------
// by ShotaIshiwatari is licensed under the Creative Commons - Public Domain Dedication license.

#include

#define SHIFT 7
#define R 0 // Red LED
#define G 1 // Green LED
#define B 2 // Blue LED
#define TIME 15 // Column of Time
#define MAXSN 12 // Max Number of Servos
#define MAXMN 10 // Max Number of Motions
#define MAXFN 8 // Max Number of Frames
#define POWER 17 // Servo power supply control pin
#define ERR -1 // Error

int i = 0;
int t = 1;
Servo servo[MAXSN];
uint8_t eyes[3] = { 0, 0, 0};

// Fine angle adjustments (degrees)
int trim[MAXSN] = { -5, // Head yaw
0, // Waist yaw
1, // R Sholder roll
0, // R Sholder pitch
-10, // R Hand grip
-16, // L Sholder roll
0, // L Sholder pitch
0, // L Hand grip
-1, // R Foot yaw
-4, // R Foot pitch
0, // L Foot yaw
0}; // L Foot pitch

int nowAngle[MAXSN] = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}; // Initialize array to 0
int targetAngle[MAXSN] = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}; // Initialize array to 0
int deltaAngle[MAXSN] = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}; // Initialize array to 0
uint8_t bufferAngle[MAXSN] = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}; // Initialize array to 0
uint8_t tempAngle[MAXSN] = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}; // Initialize array to 0

int nowBright[3] = { 0, 0, 0}; // Initialize array to 0
int targetBright[3] = { 0, 0, 0}; // Initialize array to 0
int deltaBright[3] = { 0, 0, 0}; // Initialize array to 0
uint8_t bufferBright[3] = { 0, 0, 0}; // Initialize array to 0
uint8_t tempBright[3] = { 0, 0, 0}; // Initialize array to 0

double startTime = 0; // Motion start time(msec)
double endTime = 0; // Motion end time(msec)
int remainingTime = 0; // Motion remaining time(msec)
uint8_t bufferTime = 0; // Motion buffer time (0.1sec)

uint8_t motionNumber = 0;
uint8_t frameNumber = 0;
char mode = 'M';

uint8_t motion[MAXMN][MAXFN][16]={
{ // 0 Stop
{ 90, 90, 0,130, 90,180, 50, 90, 90, 90, 90, 90, 0, 0,255, 10},
{ 90, 90, 0,130, 90,180, 50, 90, 90, 90, 90, 90, 0, 0, 0, 0},
{ 90, 90, 0,130, 90,180, 50, 90, 90, 90, 90, 90, 0, 0, 0, 0},
{ 90, 90, 0,130, 90,180, 50, 90, 90, 90, 90, 90, 0, 0, 0, 0},
{ 90, 90, 0,130, 90,180, 50, 90, 90, 90, 90, 90, 0, 0, 0, 0},
{ 90, 90, 0,130, 90,180, 50, 90, 90, 90, 90, 90, 0, 0, 0, 0},
{ 90, 90, 0,130, 90,180, 50, 90, 90, 90, 90, 90, 0, 0, 0, 0},
{ 90, 90, 0,130, 90,180, 50, 90, 90, 90, 90, 90, 0, 0, 0, 0}
},
{ // 1 Forward
{ 90, 90, 0, 90, 90,180, 90, 90, 80,110, 80,120, 0, 0, 0, 5},
{ 90, 90, 0, 90, 90,180, 90, 90, 70, 90, 70, 90, 0, 0,255, 5},
{ 90, 90, 0, 90, 90,180, 90, 90, 70, 70, 70, 80, 0, 0,255, 5},
{ 90, 90, 0, 90, 90,180, 90, 90,100, 60,100, 70, 0, 0, 0, 5},
{ 90, 90, 0, 90, 90,180, 90, 90,110, 90,110, 90, 0, 0,255, 5},
{ 90, 90, 0, 90, 90,180, 90, 90,110,100,110,110, 0, 0,255, 5},
{ 90, 90, 0, 90, 90,180, 90, 90, 90, 90, 90, 90, 0, 0, 0, 0},
{ 90, 90, 0, 90, 90,180, 90, 90, 90, 90, 90, 90, 0, 0, 0, 0}
},
{ // 2 Back
{ 90, 90, 0, 90, 90,180, 90, 90,100,110,100,120, 0, 0, 0, 5},
{ 90, 90, 0, 90, 90,180, 90, 90,110, 90,110, 90, 0, 0,255, 5},
{ 90, 90, 0, 90, 90,180, 90, 90,110, 70,110, 80, 0, 0,255, 5},
{ 90, 90, 0, 90, 90,180, 90, 90, 80, 30, 80, 70, 0, 0, 0, 5},
{ 90, 90, 0, 90, 90,180, 90, 90, 70, 90, 70, 90, 0, 0,255, 5},
{ 90, 90, 0, 90, 90,180, 90, 90, 70,100, 70,110, 0, 0,255, 5},
{ 90, 90, 0, 90, 90,180, 90, 90, 90, 90, 90, 90, 0, 0, 0, 0},
{ 90, 90, 0, 90, 90,180, 90, 90, 90, 90, 90, 90, 0, 0, 0, 0}
},
{ // 3 Right
{ 90, 90, 0, 90, 90,180, 90, 90, 95,110, 85,120, 0, 0, 0, 5},
{ 90, 90, 0, 90, 90,180, 90, 90,100, 90, 80, 90, 0, 0,255, 5},
{ 90, 90, 0, 90, 90,180, 90, 90,100, 70, 80, 80, 0, 0, 0, 5},
{ 90, 90, 0, 90, 90,180, 90, 90, 85, 60, 95, 70, 0, 0,255, 5},
{ 90, 90, 0, 90, 90,180, 90, 90, 80, 90,100, 90, 0, 0, 0, 5},
{ 90, 90, 0, 90, 90,180, 90, 90, 80,100,100,110, 0, 0,255, 5},
{ 90, 90, 0, 90, 90,180, 90, 90, 90, 90, 90, 90, 0, 0, 0, 0},
{ 90, 90, 0, 90, 90,180, 90, 90, 90, 90, 90, 90, 0, 0, 0, 0}
},
{ // 4 Left
{ 90, 90, 0, 90, 90,180, 90, 90, 95, 60, 85, 70, 0, 0, 0, 5},
{ 90, 90, 0, 90, 90,180, 90, 90,100, 90, 80, 90, 0, 0,255, 5},
{ 90, 90, 0, 90, 90,180, 90, 90,100,100, 80,110, 0, 0, 0, 5},
{ 90, 90, 0, 90, 90,180, 90, 90, 85,110, 95,120, 0, 0,255, 5},
{ 90, 90, 0, 90, 90,180, 90, 90, 80, 90,100, 90, 0, 0, 0, 5},
{ 90, 90, 0, 90, 90,180, 90, 90, 80, 70,100, 80, 0, 0,255, 5},
{ 90, 90, 0, 90, 90,180, 90, 90, 90, 90, 90, 90, 0, 0, 0, 0},
{ 90, 90, 0, 90, 90,180, 90, 90, 90, 90, 90, 90, 0, 0, 0, 0}
},
{ // 5 Green
{ 90, 90,120, 90, 90, 60, 90, 90, 90, 90, 90, 90, 0, 0, 0, 10},
{100, 90,120,130,110, 60, 50, 70, 90, 90, 90, 90, 0,255, 0, 5},
{ 90, 90,120, 90, 90, 60, 90, 90, 90, 90, 90, 90, 0,255, 0, 5},
{ 80, 90,120,130,110, 60, 50, 70, 90, 90, 90, 90, 0, 0, 0, 5},
{ 90, 90,120, 90, 90, 60, 90, 90, 90, 90, 90, 90, 0,255, 0, 10},
{ 90, 90,120,130,110, 60, 50, 70, 90, 90, 90, 90, 0,255, 0, 5},
{ 90, 90, 0, 90, 90,180, 90, 90, 90, 90, 90, 90, 0, 0, 0, 0},
{ 90, 90, 0, 90, 90,180, 90, 90, 90, 90, 90, 90, 0, 0, 0, 0}
},
{ // 6 Yellow
{ 90,120,120,130, 90,180, 90, 90, 90, 90, 90, 90,255,255, 0, 7},
{ 90,120,120, 90, 90,180, 90, 90, 90, 90, 90, 90,255,255, 0, 7},
{ 90, 90, 0, 90, 90,180, 90, 90, 90, 90, 90, 90, 0, 0, 0, 0},
{ 90, 90, 0, 90, 90,180, 90, 90, 90, 90, 90, 90, 0, 0, 0, 0},
{ 90, 90, 0, 90, 90,180, 90, 90, 90, 90, 90, 90, 0, 0, 0, 0},
{ 90, 90, 0, 90, 90,180, 90, 90, 90, 90, 90, 90, 0, 0, 0, 0},
{ 90, 90, 0, 90, 90,180, 90, 90, 90, 90, 90, 90, 0, 0, 0, 0},
{ 90, 90, 0, 90, 90,180, 90, 90, 90, 90, 90, 90, 0, 0, 0, 0}
},
{ // 7 Blue
{ 90, 90,120,130, 70, 60, 50,110, 90, 90, 90, 90, 0, 0,255, 10},
{ 90, 90,120,130,110, 60, 50, 70, 90, 90, 90, 90, 0, 0,255, 5},
{ 90, 90,120,130, 70, 60, 50,110, 90, 90, 90, 90, 0, 0,255, 5},
{ 90, 90,120,130,110, 60, 50, 70, 90, 90, 90, 90, 0, 0,255, 5},
{ 90, 90,120,130,110, 60, 50, 70, 90, 90, 90, 90, 0, 0,255, 15},
{ 90, 90, 90,130,110, 90, 50, 70, 90, 90, 90, 90, 0, 0,255, 3},
{ 90, 90,120,130,110, 60, 50, 70, 90, 90, 90, 90, 0, 0,255, 3},
{ 90, 90, 90,130,110, 90, 50, 70, 90, 90, 90, 90, 0, 0,255, 3}
},
{ // 8 Red
{ 90, 60, 0, 90, 90, 60, 50, 90, 90, 90, 90, 90,255, 0, 0, 7},
{ 90, 60, 0, 90, 90, 60, 90, 90, 90, 90, 90, 90,255, 0, 0, 7},
{ 90, 90, 0, 90, 90,180, 90, 90, 90, 90, 90, 90, 0, 0, 0, 0},
{ 90, 90, 0, 90, 90,180, 90, 90, 90, 90, 90, 90, 0, 0, 0, 0},
{ 90, 90, 0, 90, 90,180, 90, 90, 90, 90, 90, 90, 0, 0, 0, 0},
{ 90, 90, 0, 90, 90,180, 90, 90, 90, 90, 90, 90, 0, 0, 0, 0},
{ 90, 90, 0, 90, 90,180, 90, 90, 90, 90, 90, 90, 0, 0, 0, 0},
{ 90, 90, 0, 90, 90,180, 90, 90, 90, 90, 90, 90, 0, 0, 0, 0}
},
{ // 9 Push
{ 90, 90, 90,130,110,180, 50, 90, 90, 90, 90, 90, 0, 0, 0, 10},
{ 90, 90, 90,130,110,180, 50, 90, 90, 90, 90, 90, 0, 0,255, 5},
{ 90, 90, 90,130,110,180, 50, 90, 90, 90, 90, 90, 0, 0,255, 25},
{ 90, 90, 90,130, 90,180, 50, 90, 90, 90, 90, 90, 0, 0, 0, 5},
{ 40,140, 90, 70, 90,180, 90, 90, 90, 90, 90, 90, 0, 0,255, 10},
{ 40,140, 90, 70, 90,180, 90, 90, 90, 90, 90, 90, 0, 0,255, 25},
{ 90, 90, 0, 90, 90,180, 90, 90, 90, 90, 90, 90, 0, 0, 0, 0},
{ 90, 90, 0, 90, 90,180, 90, 90, 90, 90, 90, 90, 0, 0, 0, 0}
}
};

void setup() {
servo[0].attach(10); // Head yaw
servo[1].attach(11); // Waist yaw
servo[2].attach(9); // R Sholder roll
servo[3].attach(8); // R Sholder pitch
servo[4].attach(7); // R Hand grip
servo[5].attach(12); // L Sholder roll
servo[6].attach(13); // L Sholder pitch
servo[7].attach(14); // L Hand grip
servo[8].attach(4); // R Foot yaw
servo[9].attach(2); // R Foot pitch
servo[10].attach(15); // L Foot yaw
servo[11].attach(16); // L Foot pitch
eyes[R] = 6; // Red LED of eyes
eyes[G] = 5; // Green LED of eyes
eyes[B] = 3; // Blue LED of eyes

for( i = 0; i < MAXSN; i++) {
targetAngle[i] = motion[0][0][i] << SHIFT;
nowAngle[i] = targetAngle[i];
servo[i].write((nowAngle[i] >> SHIFT) + trim[i]);
}
for(i = 0; i < 3; i++) {
targetBright[i] = 0 << SHIFT;
nowBright[i] = targetBright[i];
analogWrite(eyes[i], nowBright[i] >> SHIFT);
}

Serial.begin(57600);

delay(500);

pinMode(POWER, OUTPUT);
digitalWrite(POWER, HIGH);
}

void loop() {
int buf = ERR;
if(Serial.available()) {
if(Serial.read() == '#') {
while(!Serial.available()){}
switch(Serial.read()) {
case 'M':
buf = readOneDigit();
if(buf != ERR){
motionNumber = buf;
mode = 'M';
digitalWrite(POWER, HIGH);
Serial.print("#M");
Serial.print(motionNumber);
} else {
Serial.print("#EM");
}
break;
case 'P':
buf = getPose();
if(buf != ERR) {
mode = 'P';
digitalWrite(POWER, HIGH);
Serial.print("#PT");
printThreeDigit(buf);
} else {
Serial.print("#EP");
}
break;
case 'Q':
Serial.print("#Q");
if(mode == 'M') {
Serial.print("M");
Serial.print(motionNumber);
Serial.print("T");
buf = (endTime-millis()) /100;
if(buf < 0) { buf = 0;}
printThreeDigit(buf);
}
if(mode == 'P') {
Serial.print("PT");
buf = (endTime-millis()) /100;
if(buf < 0) { buf = 0;}
printThreeDigit(buf);
}
break;
case 'C':
Serial.print("#C");
if(bufferTime > 0) {
Serial.print("F");
} else {
Serial.print("0");
}
break;
default:
Serial.print("#E");
break;
}
}
}
if(endTime > millis()) {
remainingTime = (endTime - millis()) / 10;
for( i = 0; i < MAXSN; i++) {
nowAngle[i] = targetAngle[i] - (deltaAngle[i] * remainingTime);
servo[i].write((nowAngle[i] >> SHIFT) + trim[i]);
}
for( i = 0; i < 3; i++) {
nowBright[i] = targetBright[i] - (deltaBright[i] * remainingTime);
analogWrite(eyes[i], nowBright[i] >> SHIFT);
}
} else if(mode == 'M') {
nextFrame();
} else if(mode == 'P') {
if(bufferTime > 0){
nextPose();
} else if(endTime + 500 < millis()){
//digitalWrite(POWER, LOW);
}
}
}

//Motion Play
void nextFrame() {
frameNumber++;
if(frameNumber >= MAXFN) {
frameNumber = 0;
}
for(i = 0; i < MAXSN; i++) {
bufferAngle[i] = motion[motionNumber][frameNumber][i];
}
for( i = 0; i < 3; i++) {
bufferBright[i] = motion[motionNumber][frameNumber][MAXSN+i];
}
bufferTime = motion[motionNumber][frameNumber][TIME];

nextPose();
}

//Make a pose
int nextPose() {
if(bufferTime > 0) {
for(i = 0; i < MAXSN; i++) {
targetAngle[i] = bufferAngle[i] << SHIFT;
deltaAngle[i] = ((bufferAngle[i] << SHIFT) - nowAngle[i]) / (bufferTime * 10);
}
for( i = 0; i < 3; i++) {
targetBright[i] = bufferBright[i] << SHIFT;
deltaBright[i] = ((bufferBright[i] << SHIFT) - nowBright[i]) / (bufferTime * 10);
}
} else {
for(i = 0; i < MAXSN; i++) {
deltaAngle[i] = 0;
}
for(i = 0; i < 3; i++) {
deltaBright[i] = 0;
}
}
startTime = millis();
endTime = startTime + (bufferTime * 100);
bufferTime = 0;
}

//get buffer values of the next pose from serial data
int getPose() {
int buf = 0;
int value = 0;
int maximum = 255;
boolean readPose = true;
if(bufferTime == 0) {
//Initialize array to target angle
for(i = 0; i < MAXSN; i++) {
tempAngle[i] = bufferAngle[i];
}
for( i = 0; i < 3; i++) {
tempBright[i] = bufferBright[i];
}
} else {
buf = ERR;
readPose = false;
}
//Read data
while(readPose) {
while(!Serial.available()) {}
switch(Serial.read()) {
case 'S':
buf = readOneDigit();
if(buf != ERR) {
value = buf *10;
buf = readOneDigit();
if(buf != ERR) {
value += buf;
if(0 <= value && value < MAXSN) {
while(!Serial.available()) {}
if(Serial.read() == 'A') {
maximum = 180;
buf = readThreeDigit(maximum);
if(buf != ERR) {
tempAngle[value] = buf;
} else {
readPose = false;
}
} else {
buf = ERR;
readPose = false;
}
} else {
buf = ERR;
readPose = false;
}
}
}
break;
case 'R':
maximum = 255;
buf = readThreeDigit(maximum);
if(buf != ERR) {
tempBright[R] = buf;
} else {
readPose = false;
}
break;
case 'G':
maximum = 255;
buf = readThreeDigit(maximum);
if(buf != ERR) {
tempBright[G] = buf;
} else {
readPose = false;
}
break;
case 'B':
maximum = 255;
buf = readThreeDigit(maximum);
if(buf != ERR) {
tempBright[B] = buf;
} else {
readPose = false;
}
break;
case 'T':
maximum = 255;
buf = readThreeDigit(maximum);
if(buf > 0) {
bufferTime = buf;
for(i = 0; i < MAXSN; i++){
bufferAngle[i] = tempAngle[i];
}
for( i = 0; i < 3; i++) {
bufferBright[i] = tempBright[i];
}
}
readPose = false;
break;
default:
buf = ERR;
readPose = false;
break;
}
}
return buf;
}

int printThreeDigit(int buf) {
String s = String(buf);
if(s.length() == 2){
Serial.print("0");
} else if (s.length() == 1) {
Serial.print("00");
}
Serial.print(s);
}

int digit;
//Read ASCII Three-digit
int readThreeDigit(int maximum) {
int buf;
buf = readOneDigit();
if(buf != ERR) {
digit = buf * 100;
buf = readOneDigit();
if(buf != ERR) {
digit += buf * 10;
buf = readOneDigit();
if(buf != ERR) {
digit += buf;
if(digit <= maximum) {
buf = digit;
} else {
buf = ERR;
}
}
}
}
return buf;
}

//Read ASCII One-digit
int readOneDigit() {
int buf;
while(!Serial.available()) {}
buf = Serial.read() - 48;
if(buf < 0 || 9 < buf){
buf = ERR;
}
return buf;
}