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Asked — Edited

MRB1 (My Robot Buddy V1) Project

Welcome to my MRB1 (My Robot Buddy V1) project. I have just started my Inmoov robot build and wanted to share my experiences along the way. This past November 2021 my wonderful wife purchased me a Creality CR10 V2 Pro 3D printer so I started learning all about 3D printing and in the process found the Inmoov open source project and started reading about it and well what 63 year old man does not want his own robot buddy. So off I went and started printing parts...

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I am still printing parts 24x7 and soon I hope to be done with the HEAD, TORSO and LEGS. I am going to save the arms for last.  While doing my research I learned about EZ-Robot and the ARC software and said to myself this looks like the best way to go with my build.  So this is where I am at currently.

Project Items So Far:
Subscription to ARC PRO
Creality CR10 V2 Pro 3D printer with Octo Print
16 - Spool(s)HatchBox PETG
4 - Spool(s) HatchBox PLA
1 - Digital Caliper, DITRON 0-6" Calipers Measuring Tool
1 - 18Pcs Professional Files Tools Set
1 - 57 Pieces Hand Drill Bits Set, Pin Vise Hand Drill
1 - Package Sandpaper
1 - Qibaok Crimping Tool Kit Ratcheting Crimper with 1550PCS 2.54mm Dupont Connectors and 760pcs 2.54mm JST-XH Connectors for AWG 26-20(0.1-0.5mm)
1 - JST-PH JST Connector Kit, 1480Pcs JST PH 2/3/4/5/6/7 Pin Housing Connector Adapter Plug Terminal Kit with 2.0mm Female Pin Header Connector
1 - SCIGRIP 10319 16 Acrylic Plastic Cement, Low-VOC, Medium Bodied and Fast-Setting, Clear, 1.5 fl oz Tube
100 - M3 x 12mm Wood Screws Coarse Thread Flat Head Phillips Screws Self-Tapping Screws
130 - Black Self-Tapping Screws, M4 x 20mm Wood Screw Black Phillips Head Stainless Steel Screws
50 - Black M4 x 20mm Alloy Steel Hex Socket Flat Head Countersunk Screws Bolts
50 - Black M3 x 20mm Alloy Steel Hex Socket Flat Head Countersunk Screws Bolts
1 - iExcell 1500 Pcs Metric M2 x 4/5/6/8/10/12/14/16/18/20/25 Stainless Steel 304 Hex Socket Head Cap Screws Bolts Nuts Washers Assortment Kit
1 - 1080PCS M2 M3 M4 Socket Head Cap Screws Nuts Assortment Kit with Storage Box, Three Hex Wrenches Included, 12.9 Alloy Steel
1 - M2 M3 M4 Hex Socket Button Head Cap Screws Bolts Nuts Washers Assortment Kit with Allen Wrenches Black(1080 PCS)
1 - Super Lube 92003 Silicone Lubricating Grease with PTFE, 3 oz Tube, Translucent White
1 - DYWISHKEY 30 Pieces Male to Female 3-Pin servo Extension Cord Lead Wire Cable Connectors, servo Remote Control Cables (5 Sizes)
500 - 6mm Chrome Steel Ball Bearings
1 - uxcell M2x25mm Pushrod Connector Stainless Steel Rod Linkage
1 - 10pcs Ball Head Holder Tie Rod End M2 Ball Joint Linkage
1 - ELEGOO 120pcs Multicolored Dupont Wire 40pin Male to Female, 40pin Male to Male, 40pin Female to Female Breadboard Jumper Wires Ribbon Cables Kit Compatible with Arduino Projects
1 - BNTECHGO 16 Gauge Silicone Wire Spool red and Black Each 25ft Flexible 16 AWG Stranded Copper Wire
1 - BNTECHGO 18 Gauge Silicone Wire Spool red and Black Each 25ft Flexible 18 AWG Stranded Copper Wire
1 - BNTECHGO 20 Gauge Silicone Wire Spool red and Black Each 25ft Flexible 20 AWG Stranded Copper Wire
1 - TICONN Ferrule Crimping Tool Kit with 1200PCS Ferrules Insulated Wire Terminals, Self-adjustable Ratchet Wire Crimper for AWG 237 Electrical Wire Connectors
4 - 12V 24V 20A Waterproof Rocker Toggle Switch with LED Indicator, 4 Pin 2 Position DPST ON-Off Switch for Car Truck Motorcycle Boat Marine (Red Yellow Blue Green)
1 - Feelers PTFE Teflon Tubing, 1mm ID X 2mm OD Tube White Connector Teflon Tube Hose Line for Bowden 3D Printer, 3 Meters
1 - 3.5mm 90 Degree Right Angle Male Plug to Bare Wire Open End TRS 3 Pole Stereo 1/8" 3.5mm Plug Jack Connector Audio Cable for Headphone Headset

1 - LattePanda V1
1 - 4K HDMI Dummy Plug - High Resolution Virtual Monitor Display Emulator
2 - EZ-Robot EZB V4
1 - Adafruit Trinket - Mini Microcontroller - 5V Logic [ADA1501] for Arduino
1 - Omron - B5T-007001-010 - Sensor, Image Recognition, Human Vision Components, 50 Degree, 1600 x 1200 Pixels, 10 Functions
1 - 6 Channel Digital servo Tester with Over-Current Protection
1 - LinaLife 2 Pack 1.5" 4 4Ohm 3W Full Range Audio Micro Speaker Driver Stereo Woofer Loudspeaker for Arduino Studio Diameter 40mm
2 - HiLetgo LM2596 Adjustable DC-DC Step Down Buck Power Convert Module 4.0-40V Input to 1.25-37V Output with LED Voltmeter Display
5 - HC-SR04 4 pin Ultrasonic Sensor Module Distance Measuring Sensor Module for Arduino
1 - HC-SR501 Pir Motion IR Sensor Body Module Infrared for Arduino
4 - Male 12v DC Power Jack Adapter Connector 5.5 x2.1
6 - Male 12v DC Power Jack Adapter Connector 5.5 x2.5
1 - Screw Mount 6 Channel Rocker Switch DC Power Distribution Strip Module
2 - DSD TECH USB to TTL Serial Adapter with CP2102 Chip Compatible with Windows 7,8,10,Linux,Mac OS X
1 - DC 6V 50A 60A Regulated Switching Power Supply 300W 360W AC/DC Voltage Transformer AC 110V 220V input to DC 6 volt
1 - Camera Module, HBV-1805 60 Wide Angle Lens USB Camera Module, 640480 30fps High Frame Webcam,USB Camera Linux Windows Android Mac Os
2 - DC 0-30V LED Display Digital Voltmeter Board Two-Wire Mini Digital Voltmeter Voltage Tester Meter Panel
1 - DCDC Buck Converter, DROK DC 5-40V to 1.2-36V Power Supply Step Down Voltage Regulator 36V 30V 24V 12V 5V 3.3V 8A 100W Adjustable Volt Reducer Module
1 - DIYmall 16 Bits 16 X WS2812 5050 RGB LED Ring Lamp Light with Integrated Drivers

1 - Screw Mount 6 Channel Rocker Switch DC Power Distribution Strip Module
1 - UMLIFE 10pcs TDA2030A Audio Amplifier Module TDA2030 Power Amplifier Board,Power Input Mode 6-12V Speakers Module Converter
6 - servo breakout boards for signals/power
1 - Microphone, for Laptop Computer Camera, Little Microphone Hands Free Omnidirectional Recording Mic,
1 - Short USB to Micro USB Cable, High-Speed A Male to Micro

Head - 8 ( Eyes 6 MG90S Micro Servos, Mouth 1 MG996R, Head Turn 1 MG996R)
Neck - 3 (Front 1 HS-805BB Sides/Back 2 HobbyKing Coreless Digital HV/MG/BB servo 66g/20kg/0.16s)
Torso - Waist 2 HS-805BB, Hips 2 JX servo PDI-HV2060MG 62KG Metal Gear High Torque
Shoulders - 6 JX servo PDI-HV2060MG 62KG Metal Gear High Torque
Arms - 2 JX servo PDI-HV2060MG 62KG Metal Gear High Torque

I started on the head and wanted to find a way to put eye lids on the eyes so I started looking all over Thingiverse and the internet and could not find anything developed that was a clean solution so I used tinkercad to remix a lot of parts together and came up with this based on the below link to the eye mechanism I used as a baseline for my remix.

https://www.instructables.com/DIY-Compact-3D-Printed-Animatronic-Eye-Mechanism/ Will Cogley has done a great job outlining his project and I would recommend you check it out. 
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When put together it looks like this

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As you can see I have also change the mouth because I just think it looks better than the standard design. The new eye design was a remix of another design I found online that used six servos to control the eyes. I will be mounting the LattePanda computer in the head and using it to control everything in the head. Using USB/TTL's I will be connecting to two EZB V4's on the torso that will be controlling the rest of the robot. I plan on using a USB Camera, which I think I will be mounting on the chest plate. 

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Well today 2/25/2022 I created another remix for mounting the Camera on the chest.  I still need to print it out but it should work perfect and provide a finished look.
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Update 3/6/2022: I printed and mounted the camera in the new part and I have to say it looks good.  I used the USB camera DJ told me about and with a little bit of adjusting I got it to work for my needs.   Thanks DJ!
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Update 3/20/2022
I have started to figure out how I want to mount the power distribution and other hardware and I am finding out that you quickly run out of space.  I still have items on order so I can't really move forward on that right now as much as I would like.  
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I decided today I add the neck to the torso and I have to say that was harder than I thought it would be to get all the servos centered and all three pistons adjusted.  I struggled with it for a long time but was able to get it mounted.  My next task will be to get the head mounted on the neck. My power supply should be here from China soon and I will start to work on the wiring.  I will have lots of cables to make to connect the EZB's and servo power boards and all the other sensors.  I hope at that point I will be able to start working with ARC and setting up my servo's that are installed at this point.

So in the mean time I am printing more parts to finish the legs.

Update: 4/2/2022
Well I ran out of white PETG filament so I still have the right foot left to print until I can get more white.  I decided to print the shoulders and biceps out of black PETG and was able to complete those, but now I have to order a new heater block and nozzle for the printer so printing has come to a standstill.

Update 4/17/2022
I have been working on adding the hardware to the torso and also been doing some wiring as you can see below.  I still have lots to do while I continue to wait for filament to come in.
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At this point the NeoPixel Ring has been programmed and installed using the Adafruit Trinket and DIYmall 16 Bits 16 X WS2812 5050 RGB LED it is connected to the powered USB hub.  So far I think things are going good with the build.   Currently I am working on getting the audio amp mounted in the head and connected to the Lattepanda for sound.  Once that is complete I will be mounting the head to the torso and start connecting up the EZB's to the servo boards.  

UPDATE: 5/13/2022
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I have completed the work getting the Lattepanda installed in the head and the head mounted on the torso.  I have the EZB's connected to USB TTL's hooked to the Powered USB hub.  I have all the servos to date connected to the EZB's and things ready for the shoulder servos to be hooked up. I have also got the waste tilt servos connected.  The next effort is going to be hooking up the USB camera and sensors on the chest plate.  

So far I think the wiring looks good and it is functional at the same time.  I hope I can keep that going.  The servo power boards I got from Herr Ball have really worked out great.

UPDATE: 5/15/2022
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I wanted to show a picture of the LattePanda mounted in the head along with the audio amp for the speaker in the mouth.  This configuration so far is working well.  Soon I will be closing it head up by screwing everything together.

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This a shot of the back cover temporarily fitted to check out my access to everything so far.  I also hooked up camera, Mic, PIR, sonic sensors that are mounted on the chest plate.

I also added some personal feature to him as you can see below.

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I need to get the legs done next and also the Mid Stomach together  so I can get him standing on the floor so I can clean off my work bench to start working on the arms and hands.  But first I need to get my 6v power supply built and hooked up so I can power him up and start programming while I am still building other parts of him.

I have not started my programming yet but hope to use these and many more skills Camera, Auto Position, Bing Speech Recognition, etc.


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#19   — Edited
Nomad 6R,  I was looking for a picture of the butt link I had posted mounted on a robot.   But the link you shared was a help it  showed me a few things I was questioning so thank you for posting it.

InMoov Butt Cheeks

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Update 3/6/2022 - Well I decided to go for it and I started to print these parts it looks like it is going to take about 4 days if they print with no issues. Will post pictures when done.

Update 3/12/2022 - The butt has been printed and I have to say I think when put together it is going to look really good the and the other good thing is it addresses the poll mount for the stand.  It took 1197 grams of filament to print it and like 4 days.  I now have to find a bolt along enough to bolt it together. I will post a picture when it all together.

Update 5/15/2020 - After working on the legs this part looks like it is going to need a lot of reworking to make it work correctly with the legs using the threaded rod.


Why not take a mold of your own butt and use that?
Well because my fat butt is not the right scale LOL.
OK I have another question now that I have started to put MRB1 together and with luck should be able to start working with ARC and Skills.   For those of you that have made the Inmoov robot what are the skills I should be looking at using in my programming?
#23   — Edited
I haven't built and programed an Inmoov. However I did build a full sized Lost in Space Robot from the 60's tv show.  He has lots of moving parts using DC motors operated through motor controllers. I also use lots of servos, mostly in the arms. I don't use any movement panels. Only one Movement Panel is allowed per project. Most everything my robot does is scripted using ez script (I want to start rewriting them in Javascript).

As far as my arms, they are a mix of large DC Windshield Wiper motors for the elbow movment because of the heavy weight of the arms and HD servos for the wrists and claws. I found the best way for to move these complex arms with the mixed kinds of motors was to set up AutoPosition skills for the servos and have a separate EZ script for the DC motors in the elbows. That DC motor script resides in the AutoPosition skill for the arm's servo movements. Triggering it from there keeps the DC motors of elbow's synced with the servos in the arm. It's a balancing act but with some fiddling with the timing of the DC motor script I get a nice effect. 

Your Inmoov is much less compacted then my approach as you have full servo control in your build. Your guy weighs much less. If I remember correctly the DC motors of my elbows are lifting 5 pounds. You should be able to animate everything you need throughout your whole robot by using the AutoPosition Skill.

I hope this somehow helps.
#24   — Edited
Hey Dave thanks for your comment and BTW your B9 is really cool I loved that robot in the show growing up. 

Being new to this hobby and ARC I am not sure where to begin.  I think the Init Script skill is where I need to start.  Is this the skill that help you develop the init script for servo limits and start positions for the Robot?   I need to address the basics first and then link in other skills. 

I need to understand how ARC works with relation to event processing with many skills running at the same time and how skills can talk to each other and how sensors are monitored and trigger responses.
Hey, thanks man for the nice complement.

Humm, no, I think I didn't add an INT script until I got my servos installed and set the limits in the servo controls themselves. I started my INT script very small with the servo positions and speeds first. I really started using the  INT script when I was ready to have to robot's EZB's connect to ARC.  Then I added to it as I developed the robot's systems. I didn't learn about setting the min/max limits until later when someone (maybe DJ) suggested that it would be possible to do in the INT Script. The whole thing was a very pleasant learning experience. In the end that is where I set all my variables so they are ready to use, do start up animations and voice clips for the robot, initialize and set up Uart ports, motor controllers, connect to the EZB's, and start up positions and speeds for servos and DC motors. Probable more.
Hey Perry,   Thank you so much for hooking me up with these.   I am sure as I get into this more I am going to be asking you for help.
#28   — Edited
There's an excellent getting started guide: https://synthiam.com/Support/Get-Started/how-to-make-a-robot/make-a-diy-robot

But really, you'd start like Perry said with the Auto Position robot skill. This one here: https://synthiam.com/Support/Skills/Servo/Auto-Position-Gait?id=20314

That gets you moving servos. Once you get servos moving as animations, you can add speech recognition to trigger the animations. Then you can add the camera to start tracking things and recognizing you. 

Once you get familiar with those features, you can use the Conversation Menu to interact with the robot. For more complicated tasks, use the Task Script to achieve them.
DJ,  Thanks for the feedback I will check all this out.
So DJ or others,  To do what you are talking about above what are the best skills to use?  There are many to pick from so which ones offer the best results?  Because I am a long way from having arms and hands the focus is going to be getting the head animated and some sort of chatbot or AI I also like to get tracking and such also in place because the camera and other sensors will also be in place in the torso.    I have been reading about many of the skills at this point but because I am still wiring things up I have not been able to really do any programming or experimenting to date.
if you want animation, camera tracking, and chatbot. Then you need the auto position, camera device, and choose what ever chatbot you want to try.
DJ,  thanks for your reply. 


if you want animation, camera tracking, and chatbot. Then you need the auto position, camera device, and choose what ever chatbot you want to try.
But my question was more what skills are the best to use?  There are many to choose from and my guess some are better than others.  I also would like to get my robot to do these things without having to pay for more subscriptions to services if can. I guess what I am asking for is a more detailed road map for my project.
What’s the best tool in your shed?:) The best tool is the one that’s made for the job. There’s no best robot skill. 

I think the best way to start for you is to learn the Auto Position and get servos moving. That’ll get you familiar with the ARC program and how it works. 

Then add the speech recognition to triggers servo movements by voice. That’ll teach you how ARC robot skills talk to each other 

Then add the camera device. Because that’ll teach you how to use the camera. 

After that, it’s figuring out what you want the robot to do. Like maybe you want to control it with virtual reality from another room? Or maybe you want it to drive around your house and understand what room it’s in with a lidar? 

There’s an infinite number of things you can do with arc. That’s the best part of the adventure
#34   — Edited
I understand why you don't want to keep paying for subscription to limit the skills you install due to cost. May I make a suggestion to look at this a different way? Why not build your robot using as many skills as you need to get it to work the way you want it to work. A free subscription is very limiting and I really think you will become frustrated and disillusioned. Why not get a year's Pro subscription? This way you have time to explore and learn all the offered skills and build your robot the way you want. Then, after a year or when you are not going to add anything more you can switch over to the free Runtime subscription. This is my plan. However over the years I've learned that the building of my B9 Robot is never complete. LOL. This doesn't mean I can't switch back and forth or even get a monthly subscription to make some changes.
#35   — Edited
Dave I have a pro subscription now and I will most likely will keep it going forward.  But some of the skills look like you need to also pay to use them over and above the pro subscription if I am reading them correctly.
#36   — Edited
Out of the 800 robot skills, I think there are only 4 or 5 that the 3rd parties charge for them. I think the only ones are...

- Advanced Bing Speech Recognition (but you can use the regular Bing speech recognition because you have a pro membership)

- Pandora Bot v2 (but you can use the regular pandora bot)

- Google Speech recognition (I've never used it)

- sighthound (But you can use the cognitive vision instead)

There might be a few others, but there are free substitutes. We're not in control of how 3rd party businesses run their business and what they charge - so the few that charge additional is their choice.:) But there are always free pro versions of the same thing *Shrug*
#37   — Edited
OK DJ,  that helps. I am just going to keep my questions on hold until I get to that point in my build and stop trying to plan ahead when it come to programing this thing.
#38   — Edited
Update: 5/3/2022:  

Well had more printer issues with my MicroSwiss hotend getting clogged up printing PLA so I have decide to upgrade it to a Mosquito Magnum Hotend on my BondTech extruder.  I can't seem to locate my cutting guide for the PTFE/Capricorn Cutting Fixture to size the Capricorn to the right length so I am not sure how I am going to get around this, but I am sure I will find a way.

Update: 5/8/2022:  My new hotend came in yesterday and I have installed it and calibrated it.  I needed to have 5mm of Capricorn sticking out of the top end of the hotend. So far it seems to be working well I have printed the bottom battery door and a power supply end cover so I can get that all closed up to make it more safe.  I will be printing the top door for the back torso next and then move on to the last foot so I can complete the legs.  I will add pictures to the project page soon.

Just a note:  I use the Wham Bam build plate with PEX and this works great for PETG and everything else but PLA. To print PLA without issues I needed the PC Build Surface for things to stick to the bed when printing PLA. 

I have also been working on the wiring and so far I am happy with my progress.