It's time for some upgrades... [InMoov]

[gestalt73]

It's that time of year again, and Gray's getting stripped down in preparation for some upgrades.
I've kept him together for almost nine months this time, a new personal best.

He's getting the following upgrades:
- full two axis torso
- torso update to accept a KinectOne sensor
- updated finger servo pulleys
- updated eye mechanism
- updated jaw mechanism

Should make for a fun couple of weeks. Wish me luck!

Alan

[img]http://i.imgur.com/E1TiJKdh.jpg[/img]

[Eaglezsoar]

I wish you luck and don't forget the pictures, please.

[Tincho85]

Indeed, more pictures!!
Good luck with your project

EDIT: picture removed.

[gestalt73]

More Progress pictures.

[img]http://i.imgur.com/sEyJqTkl.jpg[/img]

[img]http://i.imgur.com/C5s8U92l.jpg[/img]

[img]http://i.imgur.com/rDiiAtgl.jpg[/img]

[Khalid Khattak]

Thats an engineering marvel and nice piece of art. I am amazed to see the shining surface . It looks like you also did some molding work.
Pls share your progress.

[Eaglezsoar]

You may have spoken about how you created this but I do not remember.
Is he from molds, 3D printed or a combination of both? Just curious how a fine piece of technology exists.

[gestalt73]

It would be my pleasure.

InMoov is an open source android created by sculptor-turned-roboticist Gael Langevin.
http://inmoov.fr/" onclick="window.open(this.href);return false;
http://inmoov.fr/build-yours/" onclick="window.open(this.href);return false;

Many people around the world have built an InMoov clone.
https://www.google.com/maps/d/viewer?mi ... zNjXUbWLl4" onclick="window.open(this.href);return false;

My InMoov clone's name is Grey, and he's been functionally complete for about a year now.
He was featured on the cover of Make: magazine last year.
http://www.makershed.com/products/make- ... -volume-45
http://makezine.com/2015/06/19/in-our-image/
http://makezine.com/2015/06/23/inmoov-around-the-world/

With the exception of the nuts, bolts, servos and wiring, everything on Grey was printed on a Rostock Max.
- Frame pieces were printed in grey at 250 micron layer height
- All screw, worm and gear pieces were printed in grey at 100 micron layer height
- All white panels were printed in white at 100 micron layer height
- The initial build was done in ABS. All of my latest changes are printed in PLA
- All of the white panels were finished by lots of sanding, a filling primer and white acrylic spray paint

As I work on the bot, I'll make changes to the design, and publish those changes to thingiverse so others can make use of them.
http://www.thingiverse.com/gestalt73/designs

Grey has a total of 28 degrees of freedom from from 31 different servos. (This text in this graphic matches the original design, Grey's a little different)
[img]http://i1.wp.com/makezine.com/wp-conten ... 20x302.jpg[/img]
Image by Hep Svadja

[img]http://cdn.shopify.com/s/files/1/0243/7 ... 1433305808[/img]
Image by Hep Svadja

[Eaglezsoar]

Is the complete project with Bom lists, STLS and instructions on a Github somewhere or is this a find it if you can type of project?
Thanks gestalt73.

[barry99705]

Is the complete project with Bom lists, STLS and instructions on a Github somewhere or is this a find it if you can type of project?
Thanks gestalt73.

http://inmoov.fr/build-yours/" onclick="window.open(this.href);return false;

Mute your speakers first, or turn them way down. Stupid auto starting background noises.

[gestalt73]

Almost done!

All of the chest and head plastics are either replaced or refinished. Some of those panels were printed a couple of years ago, and I've gotten a bit better at printing since then.

I got caught up in messing with the eye mechanism design, so I wasn't able to finish the head and neck assembly this weekend.

So all that's left:
- complete eye redesign, print and assemble
- complete assembly of Bob Houston's articulated neck
- wire the new joints into the head microcontroller

[img]http://i.imgur.com/lmjKt7b.jpg[/img]

[img]http://i.imgur.com/e6a8CsG.jpg[/img]

[img]http://i.imgur.com/M9ZdYnk.jpg[/img]

[Khalid Khattak]

Unbelievable.. Your 3D printer is too accurate.. Love to see your work...

[Windshadow]

I agree amazing craftsmanship Well Done!

[geneb]

I for one, welcome our new plastic overlords!

g.

[barry99705]

I for one, welcome our new plastic overlords!

g.

Needs a different face...

[Outsider]

Have they released the new hand design to the public yet? I think it is far superior to the old one that is used now.

[gestalt73]

I've finished the changes and build for EyeMechanism2 and posted the files to Thingiverse:
http://www.thingiverse.com/thing:1328236

These eye supports are designed for the Microsoft Lifecam HD-3000.
I also made a couple of tweaks to some of the other files.
This V2 mechanism is sturdy, with no slop or play in the joints once everything is tightened down.

I think this means that the head gets reassembled tonight. Almost done!

[img]http://i.imgur.com/oPWCUHp.jpg[/img]

[img]http://i.imgur.com/A6ex7Uf.jpg[/img]

[gestalt73]

Ok, now we're cookin' with gas.

Grey is fully assembled.

First, the good:
- wiring was straightforward, with only one bad connection (loose crimp)
- new neck assembly was a snap
- eye mechanism fit into head assembly with no issues
- great range of motion for the eyes now.
- eye cameras both still work
- simple to integrate the new servos into the existing microcontroller framework
- jaw now works

Now the challenges:
- the Bob's articulated neck design is really neat, but I'm getting too much play in the side to side assemblies and the joints tend to pop off. I have a couple of ideas on how to address it. I'll need to model the subassembly and play around with some things.
- there is a slight interference between the eye subassembly and the jaw assembly in some positions. need to verify where it's hitting, and push an updated eyesupport bracket design.
- the jaw geometry doesn't seem to allow the jaw to close all the way, need to update one of the brackets to give a little more clearance.

Also in both head sets that I've printed, and both eye mechanisms, the eye mechanism mounts 1-ish mm to the bot's right. I see the same offset when I model the subassembly. My clearances between the eye and the faceplate are very tight, and the right eye may rub a bit. I may try to update one of the brackets and push the update.

Alan

[img]http://i.imgur.com/g4JdPh8.jpg[/img]

[Eaglezsoar]

That is superb! I can't even guess how many hours you have invested.
You should be very, very proud of what you have created. The best I have ever seen that has been handcrafted.
Wonderful job!

[thedoble]

Wow, this is amazing, very well done. Congratulations!

I understand that this might be an odd question, but what do you plan to use the resulting 'android' for?

Of course, a project with such magnitude justifies itself, but I thought I would ask if you have further plans for it

[gestalt73]

Hey thedoble,

No worries, it's actually a really common question for these sort of projects.

Grey's sole purpose is to serve as a platform to allow me to learn about robotics.
Thanks to him I've learned more in the past few years about actual real robotics than I've ever been exposed to before.

Unfortunately he'll never be suitable for any type of useful task, but as a learning platform? He's pretty awesome.

Although he was set up next to my Christmas Tree in front of the picture window. He was running a small script to hang a christmas ornament. That's about it for useful tasks.

Alan

[gestalt73]

The Neck Remix is done, and it's looking really good. I was holding off on publicizing the mod because I was having problems with the servos.

[youtube]http://www.youtube.com/watch?v=FPV6k8QfDY8[/youtube]

So it turns out that the problems I was having were 100% operator error.
1. I hadn't doublechecked my max and min limits for the new neck servos, keeping in mind that there's 3-5mm of play in the pistons because of the clearances between piston and piston base
2. The crossover wiring between the servo and the slave servo had a loose crimp, which could have also caused the burnout.

So I'm sure that the original HiTec servos worked just fine.
These HobbyKing HK15328D digital servos are working out really well also, and they're only $8 each.

Alan

[barry99705]

Wonder if anyone has made one with a chromed skull for the head yet?

Really cool by the way.

[Eaglezsoar]

Wonder if anyone has made one with a chromed skull for the head yet?

Really cool by the way.

How about a crystal skull on him? Just kidding, this project is superb just the way it is.

[geneb]

Needs a Fedora.

g.

[barry99705]

Needs a Fedora.

g.

Speaking of, I printed out this last night. Need to paint it, I was just amazed you can see the screw heads!
[img]https://lh3.googleusercontent.com/-e7DE ... 073222.jpg[/img]
[img]https://lh3.googleusercontent.com/-EFUA ... 212902.jpg[/img]