Inmoov - D.cochran Style

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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.

http://www.ez-robot.com/Community/Forum/Thread?threadId=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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lorncampbell
Commented July 2017
Hi everyone
Very interested in how you all approach the arm wiring and hiding the cables. Very interesting how you wired it Merne.
Also I have the speaker in the mouth and find that head settles forward on power down and tends to pull the neck out of the neck socket [bob houston style neck]. have great weekend
lorn
merne
Commented July 2017
@lorn, would be happy to help and I am sure everyone else on this forum will too. Can you please start a new thread, we try not to hi jack other robot builders thread/posts.
Thanks, merne
Perry_S
Commented August 2017
Maybe not period correct but your guy might like this

:D
www.thingiverse.com/thing:1739621
OlliO
Commented November 2017
Hey yall!

I just joined the forum and am also an Inmoov Builder. There was some discussion previously about using HDD servos instead of the "traditional" HS805bb. Would like to hear more about this track! How was the transition to HDD servos and which ones are you using?

Thanks in advance! I'll be sharing my inmoov project with you soon :)

- Olli from Finland
cem
Commented November 2017
Olli, I converted some of my HS805BB’s over to the HDD servos on my InMoov. I used them on the elbow servos and the shoulder raised/lower ones. Also I converted the neck using Drupp design on thingsiverse, using HDD Servos.

They are great no buzzing at all, and seems to cope OK, when lifting the weight of the arms.

Chris.
Robot
AvatarCochranRobotics
Published on Friday, February 27, 2015