Inmoov Legs

Question

Some extra filament rolls and servos.... Picture from the official InMoov site under activity members https://www.inmoov.fr/project/

Dunning-Kruger · Answer

There is no way in hell he will be able to walk, but my printer(s) is/are ready...

Nomad 6R · Answer

its awesome robot.whit a gyro and feetsensors he can walk. look at darwin-freddy-nao they all walk.

Dunning-Kruger · Answer

@nomad... Nao is less than 2ft tall... A full sized humanoid will need serious processing power, special joint motors and the backing of a well funded University in order to get it to walk... No offence dude, but you don't know enough about robotics and programming to understand how difficult it is to get a full sized human biped to walk... Just ask Honda.... Even just upright balancing would be a serious challenge... If they give inMoov feet the size of snowshoes then maybe I might be able to get him to walk...

DJ Sures · Answer

Yeah - that won't walk. It's legs are also very small compared to his body. Sort of dwarf-like. I hope someone makes a version that looks less like a hobbit android haha

Nomad 6R · Answer

this is a big robot.and small one.its all about money. now they can let any robot walk.

Robot Doc · Answer

Nice! Great balance and movement. Full walking gait, left and right shift is smooth.

Nomad 6R · Answer

you say ,you need a well funded institute to make a robot walk.thats thru. but why do you want to make the legs for your inmoove iff you never , ever be able to let him walk,cause you say you be reddy to print them. and you also dont have the knowledge to do so.nobody has ever seen, the data or any to let a robot walk.we just see video's. if you see on FB there is a robot walking backwarts the stairs up.

Linux robot 92 · Answer

well it looks like inmoov is steping up his game lol yea i agree those legs as well as his waist support don't exactly add up to his upper body structure, they need to be bigger in order to be able to adjust to the body aspect ratio and a gyro, acceleromator, and possibly a inverted pendulum, (no sure about the pendulum or not) distance sensors and pressure sensors in the feet to adjust to the distance and pressure of the ground underneath him. but at least the inmoov is making some really progress. bravo inmoov team.

Nomad 6R · Answer

i think the under arms are little to long

andrew34 · Answer

it's alright guys, i got 2 more exams to go, then i'm going to make a big walking robot also does anyone know when the inverted pendulum is going to be released confused confused confused

Dunning-Kruger · Answer

@Nomad... I would print the legs just for show that's all.... Right now inMoov is just a half a robot... DJ pointed out that his legs are a bit short for his body, but still having a complete robot would be nice.... Sorry dude, I wasn't taking a shot at you... I am not even sure I could get inMoov to walk even if I had all the right (expensive) hardware already installed in his legs... This would be challenging programming for sure... Biggest problem is the feet are too small.... With those small/narrow feet walking like a human would (IMHO) be pretty much impossible...

Nomad 6R · Answer

rr am not offended.i like talking straight forwart. and sensors in the feet to. think the arms little chorter to.

andrew34 · Answer

why don't you look at trying something like this

Nomad 6R · Answer

great find

andrew34 · Answer

thanx hope it helps

Linux robot 92 · Answer

Dude Andrew like nomad said great find indeed, lol I love watching xlrobots YouTube videos he always has something nifty to show on there and I think that this would be a great first experimental step(no pun intended) in inmoov's walking mechanism and it has given me an idea of what I need to do with my robot as well once it move to bipedal stage thanks andrew34

andrew34 · Answer

thanx glad i could help here is the playlist of all of the step by step videos of how it is made https://www.youtube.com/playlist?list=PLA120E7F3E3CCF53B

Linux robot 92 · Answer

your welcome lol c=

andrew34 · Answer

do u have an inmoov as well

Dunning-Kruger · Answer

Even up scaled those legs can barely hold themselves up let alone 25+xtra lbs that an inMoov torso weighs... Inmoov is very top heavy.... you guys need to find some seriously better hardware and software if you ever want to see inMoov walk...

andrew34 · Answer

this pair of legs can definitely hold it due to thees they are really strong

Dunning-Kruger · Answer

@andrew34 Dude... it ain't gonna' happen... not at a hobbyist level, anyway... There are so many factors involved... Why do you think those robots at Darpa cost $$$... because it is seriously difficult to get a human sized robot to walk...

andrew34 · Answer

you're probably right, but once i have finished my exams, i'm gonna tackle it

Dunning-Kruger · Answer

I admire your determination... You develop inmoov legs that actually work... tell you what, I will buy them off of you....

andrew34 · Answer

ok... inmoov is soooooo widely used, and sooooooo common amongst you guys, i want to make something special, with legs ps i don't own a 3d printer

Nomad 6R · Answer

great video now i know for what the tiny rubbers are for. do i see one fault in the design,and that is the blue gear that going on the servo, has no inner gear.so when under stress the screw will come off.

Dunning-Kruger · Answer

You know what, I take my negativity back? DJ had mentioned if we were able to work together as a community I am willing to bet we (us as a collective) could possibly come up with a solution to get inMoov to walk ...

DJ Sures · Answer

You could do it at our hobbyist level - but not with the weight of the inmoov and 3d printed plastic. The inmoov weighs an absolute ton compared to a robot with aircraft aluminum. The Darpa robots do cost a lot, but they're also university students and theoretical roboticists - which is why all the darpa robots are such a disappointment.

Linux robot 92 · Answer

Richard r while i agree with what you are saying to an extent, i wouldn't actually go so far as to say a hobbyist level couldn't be achieved. you must remember darpa uses hi tech equipment and mostly steel components, while hobbyist use polyurethane plastic (or what ever is used commonly with the 3d printers), nuts, bolts, nuts, screw, ext. and a little know how, mostly from diagrams of ideas threw trial and error. i mean nothing is impossible i but if so off the community came together and though up some ideas and work together, they could most likely get the inmoov moving on a hobbyist level. i mean Honda's asimo started out as nothing more than just a pare of legs very much like the ones used in the xrobots channel videos and so did pet-man at one point or another and look how far they have come now, im sure they would have been able to accomplish they same results with 3d printed parts and servos as they would have with the original equipment they use now. nothing is impossible as long as you put your mind and heart to it.

Dunning-Kruger · Answer

Ok, if we were to do it at hobbyist level we need a few extras... (within the realm of ez robot that is) 1) aluminum frame, not 3d printed plastic 2) linear actuators and/or high powered servos 4) a reasonable grasp of bio mechanics 5) Hardware... the 4 in I and inverted pendulum 6) Some good programming

Dunning-Kruger · Answer

@Omegaproject great... but who is going to write the software?

DJ Sures · Answer

programming is a breeze . Using the EZ-SDK and it's version of the AutoPositoner combined with the 4-in-1 will be enough. the EZ-SDK's auto positioner allows you to tweak the existing position of servos to maintain balance while performing auto positions. I actually designed it for a 5 foot tall robot I had planned. It was to be built out of Styrofoam actually lol Sadly - no time

andrew34 · Answer

well said give me till Tuesday and then i will start to come up with a lighter body, till then wish me luck with my physics exam tomorrow. ps we r not hobbyists... , Quote:we r the real deal .

Nomad 6R · Answer

here is also an idea,not the height but double legs.

Dunning-Kruger · Answer

Sure, you guys think it can be done by Saturday... LOL... So we need someone who can cnc and maybe we can use these servos for the leg joints...High torque servos...

andrew34 · Answer

this guy is doing what the xrobot guy is doing, just in a more controlled manner

Dunning-Kruger · Answer

@Omegaproject Quote: nothing is impossible as long as you put your mind and heart to it.  I fixed it for you Quote: nothing is impossible as long as you put your mind and heart money into it.

Linux robot 92 · Answer

Ok Richard r you got me there lol that is true with out the money, we couldn't get very far lol. But like dj said the ez sdk would making the programming a breeze and there wouldn't neccessarily be a need for a aluminum frame I mean the xrobots guy used nothing but 3d printed parts other then the aluminum rods and he also made linuar actuators from the hd servos he had and some 3d printed chain belt I to move the thoughts and knees of the legs. But I do agree with the money thing that always creates and issue when it comes to any thing lol and my bad y'all I didn't mean to insult any one with the hobbyist level thing, I just mean that nothing is impossible even at a hobby level lol. I just like to give hope to beginners and those who dream big like I do

andrew34 · Answer

does anyone have a 3d printer, to make stuff lighter, could u not just print them hollow, or you could not put much of an infill.

Dunning-Kruger · Answer

I have two 3d printers.... If you're talking about the inMoov itself.... some parts can be printed with loose infill, but others like gearboxes, arms, shoulders and most parts of the torso will need strength and therefore have a greater % of infill... Either way, your inMoov (without legs) will weigh in at about 25lbs....

andrew34 · Answer

do u think that we should come up with maybe a lighter 3d printed skeleton, and maybe a sheet metal skin to hide all of the electronics.

or ... the x robots way with relying on momentum to make it walk may not be such a bad idea, because we could use less power in the servo, and make it up with the side to side momentum that the weight of the inmoov would bring

Linux robot 92 · Answer

You could try a mix of the two I mean what's to say you couldn't use a lighter skeloton with sheet metal and use the x robots design that would make a great improvement I would think but I'm not an expert lol just a thought

andrew34 · Answer

yea r u gonna try to make a bipedal robot

Andy Roid · Answer

Put some concepts on the forum. Give the community a chance to tweak some designs. Protype designs can be metal fabrication, wood, 3d printed or whatever for prototypes. I would like to see what happens ! ?

DJ Sures · Answer

It all could be done with 3d printing, but a smarter design is needed than inmoov. By smarter I mean less material and smarter strength construction. The inmoov designer used more material and thickness to increase strength - that's like making airplanes out of lead to be stronger... Or bridges.

Who would be interesting in putting together a walking humanoid project together in github? We could collaborate easier on there.

Dunning-Kruger · Answer

I would interested.... I agree, lets not try and make a bus into a sports car.... Can we redesign inMoov or just start from scratch?.... Anyway, I am if it can be done...

andrew34 · Answer

i'm sure that it could be done

Andy Roid · Answer

I would like to be involved. Ron

Linux robot 92 · Answer

To awnser your question andrew earlier, yes i am eventually lol i just gotta get stage one of omega project complete first then im going to save up to start on stage two of omega bipedal stage I have a showcase design of him in bipedal stage, you should check it out and let me know what you think and i would like to but I don't have a 3d printer, plus I'm in the USA lol I just use scrap parts to build my robot lol but if I could I would be in a heartbeat, not to mention I'm like super broke lol

andrew34 · Answer

have u got any vids of the project, or picturs, your concept, that u want to pass him down sounds pretty cool

Linux robot 92 · Answer

No vids yet just my concept bidal stage and my omega status in the community robots under project showcase (:

andrew34 · Answer

fair enough,

andrew34 · Answer

hi, what r your names on github

Andy Roid · Answer

Does the group think a scaled down set of legs using standard servos and aluminum or 3d printed parts could be made to walk? DJ says the basic program can be done. We know sensors are coming. I would like to hear others thoughts. I have ideas for the mechanical portion but I need additional input. Ron

Nomad 6R · Answer

hi is there any progress on these legs ?

goodolboykaraoke · Answer

I'm I guess what you would call a hobbiest, I'm a delivery driver and I have my own karaoke/D.J. business, which is what got me involved as I want to make a realistic looking band so my karaoke singers look and feel like they are singing with a band.    Now I don't know a lot about physics but I noticed that the shoulders without a servo to turn them are locked into place so I'm thinking that should be able to handle the weight. Have idea to make three part mod (for 3 axis) for the hips. And mod another to combine with piston for the knee. And a similar one for front u/d of the foot and yet another for side to side for foot combine of coarse with a mod i2 neck joint for the anckle. be quite some time before I have the time and money to work on it though

Dave Schulpius · Answer

@goodolboykaraoke , When you get this all put together it's going to be very cool. I love the idea of having robots singing with the karaoke singers. That's going to be wild! Please don't forget to check back in with your progress.

DJ Sures · Answer

I agree with Dave. It would be neat to see. If you have questions while programming or designing, create a new thread so we can give you a hand a follow progress. Looking forward to it!

smiller29 · Answer

Well if anyone would like to try DJ idea I have a 12 150kg servos set of legs you can try it on.

Nomad 6R · Answer

@smiller29 were can i find the stl's ? thanks

smiller29 · Answer

We will be posting them soon on our website but I will see if I can DM them to you sooner.

Nomad 6R · Answer

@smiller29 hi there , thank you they look really nice .

smiller29 · Answer

You can also add the rest of him. He is designed to have an ARC pc mounted behind the display in the chest. I may also fire up my printer to try what DJ posted.   We are currently working on a AI walking software solution but I would love to see if we could make ARC support a walking gait.

Nomad 6R · Answer

@smiller29 im asking for a friend who's looking for legs . the robot looks awesome . good size too. i have a look .thanks

Synthiam Support · Answer

The conversation started by @smiller has been moved to https://synthiam.com/Community/Questions/Making-my-robot-walk-22989 to avoid cluttering an old, unrelated thread.

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