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I have decided to start my InMoov project. I think I will call him Spock out of respect to Leonard Nimoy who passed away on the day that I started this project.
I am editing this post so as not to confuse people with the current configuration. I continue to update this post with the latest photos. If you are reading this for the first time, don't be confused. There have been a lot of changes to the InMoov over the past couple of years including starting over.
https://synthiam.com/Community/Questions/7398&page=21 Post 203 starts the rebuild of the InMoov.
I have decided to use an onboard computer. I chose the Latte Panda due to it having an onboard arduino Leonardo and also because it uses little power.
I used 2 EZ-B controllers connected via the camera port to Adafruit FTDI friend boards. This allows the Latte Panda to have a non-wifi dependent connection to the EZ-B's. I use a powered USB hub connected to the USB3 port on the Latte Panda to attach other items.
The Omron HVC-P is used to identify people, emotions, human bodies, hands, age and gender. It is attached to the Latte Panda via an FTDI friend which is then connected to the powered USB hub. It is mounted in the chest of the InMoov. I also use a 3 element microphone which is a MXL AC-404 microphone. It is disassembled and the board and microphone elements are mounted in the chest of the InMoov. This mic board is connected to the Latte Panda via a usb cable which is attached to the powered USB hub. There is a USB camera in the eye of the InMoov which is connected to the Latte Panda via the powered USB hub.
I chose to use the Flexy hand with the InMoov. The design is far more rugged than the original hand and works very well. There are 4 EZ-Robot Micro Servos in the palm of each hand which controls the main fingers. The thumb is controlled by an EZ-Robot HD servo. The wrist waves and uses an EZ-Robot HD servo to do this motion. I use the standard Rotational wrist.
I have castle BEC's for power in the following locations set to the following voltages. Forearm's - 6.2 V - Controls fingers, wrist and elbows Custom power distribution board (2) set to 6.2 V controlling head, neck and Shoulder servos. EZ-B's - set to 6.1 V - it is mounted in the controller mounting plate and connects to the EZ-B fused power boards from a power base. Latte Panda - Set to 5.1 V and is mounted to the EZ-B controller mounting plate. Waist - set to 6.2 V and is mounted in the lower right side of the back. This provides power to the lean and pivot waist motors..
There are some custom power and signal distribution boards. These are in the forearms, lower back and in the upper back. The upper back or main board connects to these distribution points via USB cables to provide signal to the other boards for servos. The main board also has servo connector pins that are for the neck, head and shoulders. This allows the power to be distributed between multiple BEC's and also allows the servo signal cables to be shorter and more protected via the USB cables.
For power I use a LiFePo4 battery that is rated at 30 amps. It has the balanced charging circuit built into the battery and also has a low voltage shutoff built into the battery. This protects the battery and allows the battery to be charged with standard car chargers.
I put switches on the back on the InMoov which are rated at 20 amps at 12 volts. These are rocker switches that allow the user to pretty much slap the switch to turn it off. There are two of these switches. The servos for the elbows and fingers are on one switch. The latte panda, neck, shoulders, EZ-B's, waist motors and some lighting is on the other switch.
I also added a fuse block. This allows 20 amp fuses to be put in line to help protect things. The switches above drive the fuses for each of of the motors listed in that section.
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Looking great David.... One of the reasons I didn't want to put a PC on board my inMoov was because of that very same issue.... I only had a 12V 7ah battery powering the base ( due to weight constraints) which wouldn't last long powering a PC and driving the base as well...
Ya know guys, if someone in this wide and large world can invent a better way to store power it would open so many doors with our technology and things we could do with it. We would take such a leap forward as a society and quality of life for everyone. We could finally build electric cars and other machines that are economically competitive or better with fossil based engines, homes and appliances that are self dependent and devices like our robots, tools and toys that can run with very high demand for a very long time. Imagine the possibility if we could only store power better and be able to deliver it in the volume needed for the application.
Sadly I fear there are too many old traditional methods and entrenched suppliers fearing extinction and going the way of the 8 track tape to let it happen easily. However I'm a free market kind of guy and I think if a super battery is ever invented and comes to market, things would naturally balance out after some upheaval and most everyone would most likely live a better life.
@c.cochran, Have you thought of getting some plywood to build your base out of? That's what I did for my base. That way I could customize it for my needs to hold all of the components and batteries. I used 3/4" plywood - easy to work with and strong. Just a thought. Your Spock InMoov is looking great!
Good point Dave. There must be somebody making a lot of money off crappy batteries. Otherwise we would have moved forward. Elon Musk, the inventor of the the awesome Tesla car, has created some new technology with batteries and has actually, started to create systems of batteries for use with off the grid homes. BUT he has also publicly denounced AI saying it was a demon. So he's probably not interested in batteries for robots, lol! Read the article here:
AI is evil says Mr. Musk.
I have thought about plywood. I don't like the feel or finish of it. I really am looking for something with a more finished look. I will use some wood wrapped on fiberglass for shelf braces. This is how the cross supports in boats are built.
I think I am going to step away for a bit. I have lost some of my drive. I need to get some other things delt with before I can really focus on this guy. Hopefully it won't take too long.
@Dave, you could check with www.superdroidrobots.com and see how much a custom base would cost. They are excellent at building these type of things and you could pick their brain and may come up with something different. SuperDroidRobots
@69developer .... I second SuperDroid... Love their stuff.... I would love one of their bases for my inMoov but sadly can't afford it right now....
@David... I understand that sometimes you (we) need to take a step back and take stock..... Don't stay away too long.... some of us are (me) riveted on your inMoov project....
@@69developer David is the real talented guy...... I am just very passionate I guess....
I don't think it will be too long. I just finished a stationary stand for him. It let's me get him off the kitchen table and back into my study. One of the power cables to a v4 on his shoulder pulled loose somehow last night. I am out of solder right now and can't bring myself to go to the store today. The neighborhood is having a garage sale and it is a fight to get out of the neighborhood this weekend.
Just for documentation, I used an old tv stand that I had and a large corner or gate steel fence post, along with some 2x4's to make the stand. It took me a while to cut it to length because i only had a hack saw. He is pretty stable on it. Now I just need to get everything else hooked back up to him so I can continue working on him when I am ready.