RoboSavvy Forum

Home Built • Re: My Advanced Realistic Humanoid Robot Project

2022-06-27T02:09:32+01:00

Ribcage sculpted in clay

Brushed DC Motor Custom Servo Installation Progress Detail

Custom 2s 18650 battery temporary setup with 3D printed battery holders and charger boards for each battery wired in and working

Size 140 brushed dc motor with pulley output shaft and l9110s hbridge controller wired up on sop-8 breakout board with wires tag labeled. Motor wrapped in football jersey coated in non skid rug backing and sewn onto forearm that is wrapped in 1000 denier cloth adhered with adhesive transfer tape. Football jersey offers breathability for heat dissipation. Output pulleys 3D printed in PLA and super glued onto output shaft. Muscle string is 100% nylon upholstery thread glued onto output shaft with super glue.

Rear view of battery holder setup

0.3mm id Teflon tubing attached to index finger to act as guide tube for index finger muscle string. Serves same principle function as rubber hose that guides bike brake wire.

Ceiling mounted rail setup so I can descend robot arm onto work area and adjust height and position so that both of my hands are free to do the intricate work on it.

Compact pulley system design to “downgear” brushed dc motor pulley muscle string output to lower speed and increase torque to desired levels.

3D blueprint for robot full torso

Robot blueprint forearm detail with muscles labeled

Robot blueprint leg detail motor and muscle string placements and spacing

Robot shoulder blueprint detail with muscles labeled

Robot neck design which has tubing for breathing and drinking icewater for cooling systems

Robot blueprint midsection detail with batteries in black, a semi transparent main pc behind them, and the artificial lungs and heart behind that for cooling system

Statistics: Posted by artbyrobot — Mon Jun 27, 2022 2:09 am

Home Built • Re: My Advanced Realistic Humanoid Robot Project

2022-06-27T02:00:55+01:00

hand fabrication from clay to epoxy composite

The ulna bone ready to go

The terminator is coming!

The radius bone ready to go!

Flexible artificial tendons of the thumb!

Robot hand with artificial ligaments (spandex) ready for electronics!

Statistics: Posted by artbyrobot — Mon Jun 27, 2022 2:00 am

Home Built • Re: Quadrobot 17 - Four legged robot

2018-01-24T10:14:36+01:00

Hello Dimitris,
I am very much interested in robotic and i have recently seen your video in given link , it is nice ...keep it up.

Statistics: Posted by JenniferT — Wed Jan 24, 2018 10:14 am

Home Built • Quadrobot 17 - Four legged robot

2017-12-17T23:16:41+01:00

Hi all,

This is a post introducing a quadruped robot I've been working on this year.

It began as a learning exercise in Autodesk Fusion 360, but now I have sourced the hardware and the legs have been assembled, along with a temporary chassis, as well as some test kinematics code.

Here is a recent video of the progress made so far:
https://www.youtube.com/watch?v=Bc8oe3zt6aA

This robot uses AX-12A Dynamixel servos. The legs currently have 20 DOF and there are an additional 2 DOF for the body. Servos and brackets are from the Robotis range, with some replaced by their metal counterparts available from Trossen Robotics. They are painted to match the colour theme. The rest of the parts will be mostly 3D printed where appropriate. The main framework of printed parts forming the body will be sandwiched between 1.6 mm thick custom aluminium plates.

The novel aspects of this quadruped are its articulated legs, which have higher DOF than usually found on small quadrupeds, and its articulated "spine", which will help it in navigating uneven terrain.

The advantage of the quadruped is its capability to carry heavier loads and provide a stable platform for sensors, hence the idea to add a 3D scanner later on! The size of a RealSense/Kinect etc. seems to be perfectly fitting with the rest of the profile.

I will try and post developments here as I go along, but if you are interested in following the build progress more closely, and also reading in more detail about what has been done so far, please visit my website:
https://dxydas.com/category/robotics/quadrobot-project/

Statistics: Posted by Dimitris — Sun Dec 17, 2017 11:16 pm

Home Built • Re: My Advanced Realistic Humanoid Robot Project

2017-12-09T02:15:15+01:00

Oh, cool. This is a good project. This palm looks very very awful. . In the dark at night, It can create a mysterious situation.

Statistics: Posted by athenatyner — Sat Dec 09, 2017 2:15 am

Home Built • Re: My Advanced Realistic Humanoid Robot Project

2022-06-27T01:55:37+01:00

https://youtube.com/v/M3uJViGE6yw

Here's my latest addition to the robot. A mesh capture of my head and arm to aid in sculpting its skull and defining the mass of the build volume.

Statistics: Posted by artbyrobot — Sun Jun 26, 2016 11:20 am

Home Built • Re: Project: Melissa Hands - Perhaps a little easier..

2016-05-01T16:59:13+01:00

Hey Xevel,

Thanks for the info!! I'll probably end up doing a lot of control PC-side, and I may do closed loop control, haven't made up my mind yet. I'm even on the fence about using an STM32 for low level control (was what I originally intended), but it all depends on how things start shaping up performance-wise. I've fiddled with a chip, a CP2103 USB to UART interface, and have managed 960k through it, not sure how that compares to the Dynamixel bus - I think I read somewhere 1.5 M bps serial? I forget.

Take Care,
Paul

Statistics: Posted by PaulL — Sun May 01, 2016 4:59 pm

Home Built • Re: Project: Melissa Hands - Perhaps a little easier..

2016-04-29T16:53:33+01:00

Hey Paul!

Great to have some news, and to hear that you are making progress on the AI part. I'm still very curious about it

If and when you upgrade to Dynamixel servos, I would recommend you pay special attention to the communication aspect, as coming from a steup with PWM control, it can be the thing that gets you the most for a biped - because of the need for fast whole-robot control loop.
Communication with the servos is done on a serial bus, and it communication is done in a naive way (one after the other) with basic equipment (USB2Dynamixel from a PC), it could ruin the reactivity of the whole robot.

I depending on what type of gloabl control you want (open loop, closed loop with a simple algorithm, or closed loop with full IK and FK), the best solution could be different.

If you work in an open loop like most hobbyists out there, only sending commands to all servos at once, the simplest (hardware) and most versatile (software) is to use a USB dongle from your computer running the motion code and the sync_write command [writes values to many servos without checking] as fast as possible. The USB2AX has very slightly better perf there than the alternatives I know of.
This also works if you have a control loop that is not based on all the positions of all the servos like when you have use an IMU or other non-dynamixel sensors.

If you have a simple control loop based on data collected from the servos, then the approach of having a secondary controller talking to the servos and controlling them while following slower-rate high-level commands is the most efficient. This works if you have moderately complex interpolation computations too.

If however you have very computing instensive control that uses data from many servos (like an approach with full FK and control look comparing that to the model used to generate IK to give a much more complete proprioception to the robot), then the solution might shift back to having a computer do the computation. In this case (and that's the one I've been the most interested in since I started playing with robots), I would suggest using multiple interfaces that could both control and read back data from servos very fast, nad here is where the USB2AX shines the most (well if you're using Dxl 1.0 servos, as with the Dxl2.0 ones they made the original protocol much more efficient for this situation), with huge perf improvement compared to other USB solutions.

Obviously, if you have an RTOS running on a powerful SBC, then these are all moot, and you might, with an adapter board to handle the voltage conversion and half-duplex nature of the bus, get even better perf. I haven't tried this, so far I always stayed within the real of non-RTOS linux and just tried to squeeze the most out of it...

Anyway, have fun!

Statistics: Posted by xevel — Fri Apr 29, 2016 4:53 pm

Home Built • Re: Project: Melissa Hands - Perhaps a little easier..

2016-04-29T10:51:26+01:00

Long time, no post!! What's been going on with my project? I've moved into AI, though not in the typical sort of way. I'm trying something different in contrast to other AI efforts, work that has evolved from some of my past efforts. The work remaining in software is going to take some time, so I probably won't post much for a while.

As for the bot, I can't say for certain how far I'm going to continue with past efforts. Frankly, I haven't even thought about the mechatronics in a while, as I've been very much focused on the work at hand.

Make no mistake, I intend to drive a bot with the software I'm working on, I just don't know if or by how much my requirements will change by the time I get back to hardware.

For now, I can imagine:

* PC based bot, without a doubt. Probably will contine with the COM Express carrier board design, as more CPU is more CPU!!
* Biped, because I like Bipeds!

What could change??

I may end up foregoing the Hitec servos, which aside from some bracketry and bits, is about all that's left of the RN1 in my design up to this point. The main reason for this is that I think the design might be marginal on torque with the HSR-5498SG servos. It may be on the far edge of what works, but I don't know for certain yet. I'll likely end up building the COM Express carrier board, then a cage / torso for that, and see if the servos I have are still worthwhile. If not, I'll move to Dynamixel servos, and try to keep the design RN1-ish in appearance. If I abandon the Hitec servos for my target platform, I'll probably build out some command-and-control solutions for my RN1s and finish off a few bits and pieces.

My main bot-specific requirement right now is to stuff as much CPU into a biped as I can, without spending a fortune (though it still won't be what one might call cheap!). My goal is still to have a standalone bot, with no wireless tethering. I'm far less concerned with run time than with CPU performance, but I'd like to manage at least 7 minutes of run time per charge for a physically active operating state.

I think I've said it before, the point of the bot is to be a demonstration platform for my software.

Statistics: Posted by PaulL — Fri Apr 29, 2016 10:51 am

Home Built • Re: My Advanced Realistic Humanoid Robot Project

2016-02-23T04:04:22+01:00

Oh,cool. This is a very good project. This palm looks very very awful.

Statistics: Posted by TammiLuns — Tue Feb 23, 2016 4:04 am

Home Built • Re: My handcraft humanoid robot

2016-02-06T07:03:10+01:00

Ηello, how are you.You can make an example that will programming a atmega128 with robonova firmware?

Statistics: Posted by GIANNHSitia — Sat Feb 06, 2016 7:03 am

Home Built • My Advanced Realistic Humanoid Robot Project

2022-06-27T01:51:08+01:00

The Project Goal

I'm planning to build an advanced humanoid robot. Think Ex Machina, The Terminator, Data from Star Trek, etc... So just like Data on Star Trek's creator created Data to look just like him, I'm making mine a mirror image of myself! I want the robot to ultimately move like a human, be able to walk, run, jump, do chores, dance, do sports, have conversations realistically, paint, do sculpture, etc. Hope you enjoy following me on my EPIC journey

About Me

I'm Larry. I have a background in computer programming as well as a lot of trades (electrical, mechanical, construction, etc). I also am an artist - sculptor, painter. I consider myself an inventor and an innovator. My current inspiration is Elon Musk.

Robot Features Planned

I plan to start out sculpting the left arm and hand, rigging them up with servo motors, connecting that up to a pc, and getting it to grasp. From there I will develop the torso, the scull, the legs, the feet, and the other arm. The bot will have silicone skin and look realistic and move realistic. It will have artificial lungs for cooling. It will have spandex ligaments and pulley systems to imitate muscles. It will have sensors to feel if it bumps into things and it will have webcam eyes. It will have a speaker in the mouth to speak with and the mouth will move to lipsync what it is saying. It will have facial expressions. It will have advanced artificial intelligence. It will run on battery and/or power cable depending on the situation.

https://www.youtube.com/watch?v=mRTtyT2cWaI

My project website: http://www.artbyrobot.com

Be sure to checkout artbyrobot.com for more, also my youtube channel https://www.youtube.com/c/artbyrobot1

Statistics: Posted by artbyrobot — Fri Jan 22, 2016 7:17 pm

Home Built • Anybody has experience with Uptech CDS 5516 ?

2015-11-29T01:04:36+01:00

Hey fellas,

I have been looking for a servo that is similar to the Robotis AX series, I saw somebody here that bought a Uptech CDS 5516 and posted some info about the servo here.. but that was back in 2011..

My main issue is that I want to use Servos that use a serial UART interface like the Robotis servos.. but in a more standard size with more standard spline shaft like the Futaba or Hitec T25 .. the Robotis servos are great.. when the accessories are very limited when it comes to shaft, hubs adaptors. servo mounts... it is frustrating.. if you know of other solutions please chime in.. thanks!!

Also, these Uptech CDS 5516 are hard to find..

Do you know other alternatives to Uptech CDS 5516 ?? Thanks!

Statistics: Posted by joebotics — Sun Nov 29, 2015 1:04 am

Home Built • Re: Kif robot Hand's (melissa hand's inspirat)

2015-11-03T16:58:08+01:00

Salut Kif!

Je suis María je suis étudiante en deuxième année en L3 en Technologie Industrielle. Cette année nous avons un projet très important dans lequel on doit modifier une main en plastique d'un robot. Je voudrais bien utiliser votre solution car nous n'avons pas les moyens pour nous payer une main originale du Kondo. J'ai regardé les photos et je suis curieuse de savoir combien de pièces vous avez crée pour chaque doigt, quelles sont les applications que vous avez donné à cette main? Moi par exemple je dois soulever un verre et une bouteille en plastique pour servir le verre.
Avec mon groupe on hésite au numéro de doigts qu'il faudra mettre. Est-ce que avec votre expérience, vous pouvez me donner les renseignements nécessaires?

Merci d'avance.
Bien coordialement
María Cordero

Statistics: Posted by Chibimoon — Tue Nov 03, 2015 4:58 pm

Home Built • Re: The new Irowe 4550, clever little robot project.

2015-10-29T21:42:04+01:00

That is awesome! I love how the lights on it work as well. I recently came across this 3D printed Robot.

https://pinshape.com/items/12244-3d-printed-mt-20-animated-hybrid-robot

It's of the MT-20 (MakerTron).

In this video, this guy really breaks it down.

https://www.youtube.com/watch?v=QymeqrlsQgI

Statistics: Posted by robolindros — Thu Oct 29, 2015 9:42 pm