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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.

Note:  If when reviewing this build if you see anything you have questions on please feel free to ask I will share STL's, Code product info. to help promote this hobby...   ALSO I MAKE UPDATES TO THIS POST ALL THE TIME AS THIS IS A WORK IN-PROGRESS. You will also see the progression of the build as I make design change over the course of time.  I wanted to leave all the version changes in the post for the record of the process I took.

Project Items So Far:
Subscription to ARC PRO
Creality CR10 V2 Pro 3D printer with Octo Print
24 - Spool(s)HatchBox PETG
7 - 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)
2 - 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
2 - 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
2 - 3/8" x 36" threaded rods for the legs with bolts and washers.
300 - 4mm Chrome Steel Ball Bearings for new arm design.
200 - 5mm Chrome Steel Ball Bearings for new arm design.
5 - 25T servo Arm 5PCS 25T Round Type servo Horn Robot Arm Aluminum Alloy
4 - 608-2RS Ball Bearings Skateboard 608-RS Double Rubber Sealed Shielded Miniature Deep Groove 8mm x 22mm x7mm
10 - ShareGoo 25T Aluminum servo Horns Arms M3 Threads Metal Steering Arm for RC Car Truck Buggy Airplane-Red
3 - 1Meter 1.5mm x 2.5mm / 0.8mm x 1.2mm PTFE Tube For 3D Printer Parts
3 - M2-M20 304 Stainless Steel Full Thread Rod Screw Rod Headless Bolt Thread Full Threaded Stud
30 - Permanent NdFeB Super Strong Powerful Magnets 10x3 mm N35 Round Magnets 10x3mm Neodymium Magnet Dia 10*3 mm Circular10
2 - Rc Boat/Car Plastic M2 M3 Ball Buckle Tie Rod End Positioning Ball Buckle Three Color Available for M2/M2 link Push/Pull Rod
20 - 6x3 Small Round Powerful Magnetic Magnets N35 Neodymium Magnet Disc 6x3mm Rare Earth Magnets Strong 6*3
150 - 3x1.5mm DIY Personalized Multi-Use for Fridge Door Whiteboard Map Bulletin Boards Refrigerators Magnets

1 - LattePanda V1
1 - Raspberry PI Zero
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 - 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,
2 - Short USB to Micro USB Cable, High-Speed A Male to Micro
1 - HDMI-Compatible Adapter 90 270 Degree Right Male To Female Converter Extender For PS4 HDTV Projetor Laptop Monitor
1 - 30CM OV5647 Camera Module for Raspberry Pi ZERO Development Board 72 120 160 Degrees Fish-eye Lens Auto Focus HD 1080p 22Pin
1 - PCA9685 16-Channel 12-bit PWM servo Motor Driver Board Controller I2C Interface Raspberry Pi Shield GPS Module for Arduino Robot
2 - USB 2.0 Connector 180 270 Degree USB Adapter USB A Male to Type A Female Gender 90 Degree Cable U Extension Converter
4 - RTELLIGENT Nema 17 Stepper Motor, 2 Phase Step Motor Bipolar 1.5A 59.5oz.in(42Ncm) 42x42x38mm 4-Wire 30cm Long Cable
6 - eBoot Mini MP1584EN DC-DC Buck Converter Adjustable Power Supply Module 24V to 12V 9V 5V 3V

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
RL-Shoulders Joint 1 - 2 JX servo PDI-HV2060MG 62KG Metal Gear High Torque
RL-Shoulders Joint 2 - 2 JX servo PDI-HV2060MG 62KG Metal Gear High Torque
RL-Biceps Joint 3 - 2 JX servo PDI-HV2060MG 62KG Metal Gear High Torque
RL-ElBows Joint 4 - 2 JX servo PDI-HV2060MG 62KG Metal Gear High Torque
RL-Wrists Joint 5 - 2 Robot servo 25kg RDS3225 metal gear digital servo 
RL-Hands - 10 JX-PDI1109MG will be needed to complete both hands.
NEW Head - 15 JX-PDI1109MG and Head Turn 1 MG996R will be needed to complete

Stuff No longer needed
OLD Head - 8 ( Eyes 6 MG90S Micro Servos, Mouth 1 MG996R, Head Turn 1 MG996R)

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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The following parts are what I changed to make his eyes work in my build.  

The SkullFrame can be downloaded here: NEW MASTER FRAME 360.stl
Top servo holder can be down loaded here: Eye Lid servo Mount.stl
Jaw Holder can be down loaded here: Jaw Holder.stl
Eye can be down loaded here: New Eye Ball.stl
Eye Iris black ring can be download here: New Eye Black Ring.stl
Eye Iris colored ring can be download here: New Eye Ring.stl
Eye Lid Actuator Bottom can be down loaded here: New Eyelid Actuator bottom.stl
Eye Lid Actuator Top can be down loaded here: New Top Eyelid Actuator.stl

I used the the following other remixed parts for the head. Head Parts.zip

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.  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!
If you want the STL file your download it here:  Chest Camera.stl

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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 version one of 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.
The LattePanda mount can be down loaded here: lattepanda Mount.stl

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This is 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.  

Note: I may have to lower the EZB's on the back to provide enough space between the back cover and the pins on the EZB's to be able to plug in the signal wires for the servos on the pins close to the top of the EZB's.  
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I have cut a recessed area in the back cover and I think that is going to address my issues.  Download the updated backplate here:  Back_PlateV4.stl
This was created by Bob Houston and you can find it here on Thingiverse

I also added some personal feature to him as you can see below.
Download the Mustache here:  Moustache.stl
Download the Brow's here: Brows.stl

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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.

UPDATE: 5/28/2022
I have been working on many things at once lately and not getting anything completed LOL.  I was able to get the legs 80% put together and the Mid Stomach also 80% just need to complete the servo wiring and testing.  I think my plan is going to be mounting the Mid Stomach/the Butt and the legs together before I mount the Torso to them, but time will tell on that.

I am still deciding what I want to do on the hands and have been looking at many options at this point.  The arms and hands are such an important part of this build so I really want to make sure how I want to move forward.

On another note Amazon just delivered what I hope to be the last of the parts I need for my power supply so I hope to very soon be able to power my MRB1 up soon... 

UPDATE: 6/2/2022
I am happy to report with help from Jeremie and Nomad 6R we have perfected the Butt for MRB1 that uses a 35mm pipe. I have also remixed a floor stand that also uses a 35mm pipe seen below.
The Butt STL file can be download here:  NEW BUTT V5.stl
The ButtAttach file can be download here: ButtAttach.STL
The Thighholder file can be downloaded here: ThighHolder.STL Note: you need to mirror the other one.
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I will add more pictures when it is done printing in three days and a spool of filament later LOL.

UPDATE: 6/5/2022
Well I am happy to report the MRB1 Butt has been printed !!!! YAY!!!! After 1 and 1/3 spools of filament and 3 days of printing we have one pricey Inmoov *unicorn* LOL. Don't ever want to print another one of these... Just need to solder the servo pot for the waist and mount the butt to it after that we add the legs.

I went to the store and got the threaded rod for the legs just need to paint them and put stuff together....

Completed the waist and mounted the butt and below is the view from the back side.  I need to still get the legs painted with the black highlights and get them put together.  I am having a hard time locating a pipe...  If anyone has used PVC for the stand please share what size pipe you used I was going to use 1 inch PVC but I don't think it will be ridge enough. may have to go 1.25 and up to 2 inch.  
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I have completed the black painting of the parts on the above parts and I also completed the black patches on the legs seen in the below picture. the next step will be putting everything together.

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UPDATE: 6/24/2022
As you have seen in the below comments I have been working on a new shoulder and arm design and while I continue to to work on the legs I have started to print out the first shoulder joint to see how the design works. 

UPDATE: 6/25/2022
We have legs!!!  I spent last night getting the legs assembled and I think they came out pretty good.  I had to make some parts to be able to get rods to work with the new butt.
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Oh I also added his Junk Cup LOL
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Next step is to complete the base and get the torso attached...  My work just never seems to end on this project.  

UPDATE: 7/1/2022

I came across a complete InMoov Bender file some people may want so I figured I would post it here.
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FILE:  InMoovComplete.blend.zip

UPDATE: 7/6/2022
I have been having some issues with my new hotend so I have sent it back to the manufacture to be checked out I hope to get it back soon with a solution to my issues, so I can move forward with my new designs and provide everyone an update on if they are going to work.  I printed a base stand but I don't think it will provide a stable base so I have been looking for a used office chair base and have not been able to find one so until I can get that sorted out I don't want to mount the torso on the legs yet.

I also ordered more servos needed for the new designs for the arms and hands and they should be here by the end of the month if all goes well.

UPDATE: 7/8/2022 
Got an update from the manufacture on my hotend they shipped it back to me today so maybe by the beginning of next week I should have it back so I can start printing again.  I also had to order a better cooling fan for the hotend and that should be here by Sunday so I can get that all installed and ready.  The plan is to print two of the leg parts to complete them. My hope is while I am doing that I can reprint a few parts for the the new shoulder joint and also get that put together and tested.   Once I have these two things done I will post a video of them which will be another first for me as I have never posted a YouTube video before.

On another note a friend of mine told me today he found a chair base for me that I hope to get from him this weekend and maybe I will finally be able to sort that mess out once and for all.

UPDATE: 7/20/2022
The good news is my hotend with the new cooling fan is working great.   I have been printing parts 24x7...   I also have not been able to get that chair base yet because my friend got Covid-19 and I have to wait until he gets better to pick it up.

Overall things are moving forward just not as fast as I would like.

UPDATE: 7/22/2022
I got the chair base and of course it not going to work without me making more changes but that just seems to how it goes with me.  

UPDATE 7/30/2022
With the release of the V2 Inmoov hand I have decided I am going to go with that hand for my build.  

UPDATE 8/15/2022
Well here is my new InMoov arm design almost done with 5 of the six joints done and put together. I have to wait for my servos for the new InMoov V2 hand to come in so I can add the rest of the forearm, wrist and hand to it. I have the J6 wrist joint done just not added to the arm yet. I wanted to make a video but until I can’t until I get the arm mounted because I can’t hold the arm, camera and work the arm to demo it so your stuck with pictures at this point. I can tell you it seems to work very well and seems to be less noisy the the standard arm. I still need to work out the cable management but I need to get it mounted on the on the torso to complete figuring that part out. Spent time tonight working on the hand because I needed to make changes to that to support the new wrist joint.

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UPDATE 8/18/2022
I have decided to go with the new V2 InMoov hand for my build but have decided at this point not to have the finger sensors installed.  So I created printable finger tip that twist on.
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You can find the STL file here: New Inmoov V2 Hand fingers.stl

On another note I have decided to update MRB1 head to a new version created by Shido Xen.  I think I have been able to figure out how to get my LattePanda install in the head as seen in the below picture.  I have to say this is in my opinion the new gold standard for the InMoov head.  Shido Xen has done an amazing job on this new design.  I still need to work out adding a speaker and amp to it but that should not be an issue.  But having the PCA9685 (16-Channel 12-bit PWM/Servo Driver) in the head connected to the Lattepanda it will keep all the servo connection for the head in the head and reduce the wires going through the neck. 

The other thing I love about this design it uses Will Cogley Animatronic Eye Mechanism base design for the eyes. you can his work out here:
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.

Shido Xen Head project can be found here: https://github.com/CyberSyntek/Syntek-Edition-Head-Remix
He has done an outstanding job on this project and you really need to check it out!
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I have been getting my parts order ready for it and also started printing out parts.   You can see it in action here: https://www.facebook.com/501864922/videos/564981012081096/

Update 9/10/2022
I have completed my new version 2 J1, J2 and J3 joints design and should be testing it soon. I have changed the gearbox on the J1-2 joints to allow me to make the smaller and to remove the backlash in them. If I did the math right they should be a little faster than the V1's. The goal was to lighten the arm if I could and also make it easier to print the parts. So I also redesigned the J3 joint. The below in comment #127 is some pictures of the new designs I am working on.

Update 9/17/2022
I have been testing new gearboxes for the J1-J2 joints for the last week I have had success with a 16:1 servo gearbox but I also want to see if I can come up with a NEMA 17 stepper motor version that can be interchanged servo powered one.   I have the design pretty much done now I am waiting for some parts so I can test it.

On another note I have order a boat load of stuff to build the new head and complete the work on the hand for the new arm using the smaller servo's in the front of the forearm as seen below.
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Update 9/26/2022
I have completed the modified V2 hand new wrist and lower forearm of the new arm and it works great using the JX PDI-1109MG micro servos in the lower section of the forearm.   You can view the video here https://youtube.com/shorts/vA_lxd-Cfow

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Update 10/04/2022
I have been struggling with the new main shoulder J1 joint designed to work with the stepper motor.  I have had many test prints that have needed to be tweaked a few times and currently I am printing what I hope to be the best and final design.  Finger crossed at this point I really want to get past this point and get this new arm done.   I have also been working on the forearm wiring and I hope to have that completed in the next few days if things go well.

The delay on the new gearbox is because I wanted to change the gears to have larger teeth and by doing that it changed the sizes on everything so it has nothing but a proto-typing effort.

The other thing I need to do is remove the old arm off the torso and take it apart to make ready for the new one.   I also need to remove the head to make room for the new head that I am making so rather than putting my build together I am taking things apart and I really hate doing that.  So you may see part and wonder why it looks like I am start all over again.

Update 10/26/2022
I remove the V1 head to strip it for parts for the new and improved V2 head and also removed the the V1 arm to be able to test the V2 arm systems.

The bad news is PETG gears just can't handle the weight of the inmoov arm.  I have tried many different things and gearboxes servo's stepper motor driving gearboxes and just can't get anything strong enough I really have to give it to Gael the designer who was able to come up with a 3d printed solution using basic servos to get these arms to work.  At this time I am waiting for heavy duty 380kg servo to come as my last attempt before going back to the normal arms. 

The good news was making the stepper motor gearboxes was the first time I really used ARC and it was a real leaning experience.  With the help of DJ and others I was able to really test out these gearboxes good using ARC.  The sad thing is that I am not going to be able to use these in this build but in the future I am sure I will.

My focus now is going to be making the new head and get back to where I was a Head, Torso and Legs. LOL.   Then I will go back to the arms and see what happens.

More to come.

Update 11/03/2022
I have decided for right now to just build the stock arms. I just can't find a solution for the elbow joint there is just no room left in the bicep. The forearm and hand including servos comes in at about 1.1kg I would need an liner actuator with a 50mm stroke that is strong enough to pull the arm up and also fit in the space left in the bicep. servo City make some micro actuators I think may work but without knowing the math to figure it out for sure I am not going to spend the money to test it out.

Update 11/06/2022
I had cut out the shoulder piston base from the torso to be able to test the new arm I was working on now that I decided to use the standard arms I needed to get that piston base back into the torso.  I thought for sure I was really going to make a mess of my build getting this installed back into the torso, but I am happy to report I got it installed again without breaking anything!!!  I am so happy this went well for me.

I have been working on the new head and I pray that I can make the Lattepanda work with a PCA9685 servo controller and ARC or I am going to have another mess on my hands.

Update 11/15/2022
I have finally got the legs mounted a the chair base and feel it has enough support for the robot.  I have assembling the new head and so far that is going well once it is further along I will post some pictures. I have been able to get another camera mounted in the eye so now he will have one in the head and one in the chest.   I changed one of the buck converters to a new device and that seems to also be working great.  I have been also working on both of the shoulders to try and get them out of the way, but have not gotten far on them at this point.  The day job is cutting into my robot time LOL.

Update 12/11/2022
I have been busy with another project while I waited for some ball links to come in from China so I could continue to build the new head.  I am still testing to see if the Lattepanda can work with a PCA9685 servo controller and ARC DJ has made a fix to the firmware so I will be trying that today to see if we can make it work fingers crossed.

Update 12/15/2022
The ball links came in from China so I can continue to build the new head. I made changes to the PCA685 controller service so now the Lattepanda can work with a PCA9685 servo controller and ARC so that big issue for me is off the table and now 90% of all the wiring can be kept in the head so I will really be happy with that.

Update 04/14/2023
It's been a long time sense my last update and I am sorry about that.   I have been very busy at work and I have also been working on another project after my fail on the new arm design for the Inmoov. I still want to develop a new arm and until I can make that happen this project is on pause.  I will be making a new post for the other project that I am working on to build a 4 foot tall walking robot.


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#162   — Edited
Thanks for the info and links. Wow, that little servo gearbox is a monster. I had considered using one like that a while ago in my robot. I can't remember why I decided not to. It looks like a wonderful solution. Have you figured out where and how to add feedback for position and speed control?

One more question; I see you're ordering the servos through AliExpress. I have often thought about buying through them. Have you had any experience before with them? If so how was your experience and shipping speed? It seems like everything they offer comes from China. They must be the Amazon of the Far East. LOL

The problem I've found with liner actuator's is that they are heavy and slow. There are high speed LA's out there but they are expensive and really heavy. When you find one please share it. I'd love to check it out.

Just another thought and I'm sure you have already thought about this; placing a heavy liner actuator in the arm will add a lot of weight that would have to be lifted. However with the monster motors you linked to that may not be an issue. Have fun!
Dave,  These servo's work like standard RC servo's but include many adjustments in terms of rotation up to 300 degrees. You can find more details if you follow the links to the product page.

As far as AliExpress I have ordered many things from them and had very good luck.  Sometimes you have to search to find the best price and shipping rates but overall I have save a lot of money ordering from them.  Yes it takes some time to get the products about a month normally but I have not found that to be a real problem for me as I have had many other things to do in my project trying different stuff.  
Example: I needed to order 20 JX PDI-1109MG Digital Mini Servo's they were 118.00 from AliExpress and would have cost more than 200.00 from Amazon.   The 380kg servo with free shipping is 56.00 from AliExpress and 82.00 on Amazon. 

I looked at the 6V servo based liner actuator's on servo City and one of those could maybe work for the elbow and also fit in the bicep.  If I can keep most of the weight around the centers of rotation I think I can make this work.

So for me to try this next design I am looking at about 270.00 in servos for 4 joints.  Then if you add all the hardware and filament purchased for the other failed attempts well lets just say these arms are getting costly to say the least.  But I am kind of like a dog with a bone when I want to make something work.

So when the Super servo gets here this coming week I hope my goal will be to make a J1 joint with it and connect the arm to it and see if it can deal with the weight.  If that works I will order a 380kg to make the J2 joint and test again and just keep moving down the arm until I get to the finger tips.
#164   — Edited
Thanks for all that useful information. Sounds like you have an excellent plan. I'm looking forward to your posts on this.
Hey Dave put this together tonight while I was watching TV again.  The first three joints using 24V high torque servos.   Just need to figure out the elbow joint.  I think I will have to use a liner actuator for that.  Need to research more on servo City and see if they have something that will work.

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Hey, that's pretty impressive. Is that U bracket attached to the servo horn 3D printed or metal? If 3d printed and If you find you need more strength for that part and need to change to metal, perhaps you can print a cover to make the metal u bracket look more substantial. You know, just for looks.
I have decided for right now to just build the stock arms.  I just can't find a solution for the elbow joint there is just no room left in the bicep.  the forearm and hand including servos comes in at about 1.1kg I would need an liner actuator with a 50mm stroke that is strong enough to pull the arm up.  Servo City make some micro actuators I think may work but without knowing the math to figure it out for sure I am not going to spend the money.
#168   — Edited
I will at some point be starting a new post on another project I will be doing.  The Youbionic X1 build.  The goal with this one is to get it walking.

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your design are stunning . like it alot .
Thanks but this is not my design it belongs to Federico Ciccarese, Youbionic CEO from Italy.  This is a blank slate so to speak that will come in at about 1000.00 in materials to build.  In this project they use a new control board that I posted a question about on this site because rather than using that software I would like to use ARC in the development because it brings more to the project.  Because this guy is only 40 inches tall there is not a lot of space to mount things.  Using ARC I would be able to add many more sensors to aid in controlling his ability to walk and sense his 3D space around him.

In my opinion this build could really showcase the ARC product.   But more to come on all this later on I need to complete my Inmoov build now that I have decided to use the stock arms for now anyway LOL.
Great work. You have come to the same conclusions I did during my development. Standard servos and actuators are not adequate for an inmoov. Always consider the size of the motor in that tiny servo or any of the ones tested. If you continued I believe you will end up with my conclusion, the only workable option is the low RPM, high torque BLDC motors driven with something like the O Drive.
For anything walking, your problems will be magnified. I highly recommend that you watch all of James Brutons videos. I consider him the gold standard of home made robotics.

With your skills you could design a ground up that was informed by James' designs that would be better than trying to retrofit someone elses design they have not been able to get to walk yet.
#172   — Edited
Thanks Perry,  the problem I am having is really related to trying to make a stronger Inmoov arm that still looks like an Inmoov arm on the most part which I just have not been able to solve.  

Gael really did an amazing job coming up with his design using the servos he picked.  I could use another 380kg or 270kg 24volt servo for the elbow but then the arm would not continue to look like an Inmoov arm.  But at some point I will learn the math needed to know 100% what is needed to get the motion I want in the forearm. 

On the X1 build I agree I could have probably attempted to design my own but the X1 design is a pretty good starting point.  Also I have seen it walk moving the joints manually though the software so I know it can walk but fine tuning it by adding other sensors to help automate the movement is needed.  There are also others all over the world also working on this task.    But like the Inmoov project it is a work in progress so time will tell.   My first task is to decide if I am going to move away from the groups Software and go with ARC and change the how  we control the bot. 

I am having fun learning everything needed to improve my knowledge and skills needed to be successful in this hobby.  It keeps this old man’s mind busy.  LOL
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Finally got his stand done!!! I thought I was never going to get this done Now I have to mount the power supply to it and once I get the new head completed and on the torso then I will mount the torso to the legs.
Wow! That is clever Smiller29. You took the base of an office chair; 3D designed and printed a connection to fit the cylinder of the chair base. Then you continued the design and print to the base of the robot. Brilliant, work! I am nowhere near that far but I have often wondered what I am going to use to mount and move the robot with. This is awesome! Your 3D design skills are impeccable.
Ya, that's impressive. Truly functional and nicely integrated.  

Am I the only one that thinks that looks like it hurts.:(xD
I see the last post was Nov. 2022

It is 2023 now, did I miss your finish of your robot, smiller29?
In my last update above I put this project on hold until I can come up with a new stronger arm.  Currently I am focusing on another project that I also have in the works to build a 4ft tall walking robot using EZB’s and ARC. 

I will be creating another post here for that project I just want to get more done on it first.
Thanks for response.

Best wishes

In the past I had a 4-foot metal robot
Hi Smiller29. sorry to bring up an old post. But could you let me know how you modified the chest camera mounting?

I have the same camera as you list in your BOM and have printed your chest camera stl file, but not sure how you mounted the camera.


I used hot glue gun to mount it in the chest part.  I hope that help you.