/robowaifu/ - DIY Robot Wives

Advancing robotics to a point where anime catgrill meidos in tiny miniskirts are a reality.

LynxChan updated to 2.5.7, let me know whether there are any issues (admin at j dot w).


Reports of my death have been greatly overestimiste.

Still trying to get done with some IRL work, but should be able to update some stuff soon.

#WEALWAYSWIN

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Welcome to /robowaifu/, the exotic AI tavern where intrepid adventurers gather to swap loot & old war stories...


OpenGL Resources Robowaifu Technician 09/12/2019 (Thu) 03:26:10 No.158 [Reply]
Good VR is one important interim goal for a fully-realized RoboWaifu, and it's also much easier to visualize an algorithm graphically at a glance than 'trying to second-guess a mathematical function'. OpenGL is by far the most portable approach to graphics atm.

>"This is an excellent site for starting with OpenGL from scratch. It covers from very introductory topics all the way to advanced topics like Deferred Shading. Liberal usage of accompanying images and code. Strongly recommended."

learnopengl.com/
https://archive.is/BAJ0e

Plus the two books related, but learnopengl.com is particularly well-suited for beginners.

www.openglsuperbible.com/
https://archive.is/NvdZQ

opengl-redbook.com/
https://archive.is/xPxml

www.opengl.org
https://archive.fo/EZA0p
Edited last time by Chobitsu on 09/26/2019 (Thu) 08:14:37.
18 posts and 16 images omitted.
Went ahead and created a public repo for this work.
>>1814
Open file (236.01 KB 1920x1080 Workspace 1_012.png)
Well, it was kind of convoluted to work out all the details, but I've managed to add quality TTF text rendering to the MRS.
>>1815
BTW, I removed GLAD as an external dependency. There's an option to create all-local files, so I moved MRS to that approach. It means anons don't have to deal with GLAD now.
Added a void rndr_tick(Shader txt_shdr, const unsigned fps_tick) function to ensure the MRS was really getting an honest 60fps (it is). However, occasionally I'd notice a little artifact that made me think that tearing was happening even though I set the swap interval to 1:
glfwSwapInterval(1); // 1 should prevent tearing

Now I'm not so sure it's actually tearing;
A) It only infrequently occurred
B) It is likely limited to only the fast-transitioning digit at the end, afaict.

This makes me think it's actually not tearing, but rather the screen capp program I'm using (Shutter) is simply 'snapping' the image right at the instant a digit is being redrawn. I'd welcome insight if anyone knows more about this stuff.
>pic related
>>1848
Unrelated: Does the system redraw from the bottom-up? For some reason I thought the drawing happened from the upper-left corner down, but apparently not. Given that the coordinate origin for the system starts in the lower-left corner (similar to a Cartesian system) I guess that makes sense. Live and learn.

/robowaifu/ thread archives Robowaifu Technician 09/16/2019 (Mon) 06:36:14 No.273 [Reply]
julay robowaifu archives

https://archive.fo/yndgt Catalog

https://archive.fo/31E3X (Robo)Waifu personality thread
https://archive.fo/U4UPH /robowaifu/ is NOT dead.
https://archive.fo/A3A43 /robowaifu/ thread archives
https://archive.fo/YWPN7 3D printer resources
https://archive.fo/uHQ2C AFFORDABLE, PRACTICAL WAIFUBOTS ARE POSSIBLE TODAY
https://archive.fo/AK4tA AI + Brain/Computer Interface news & commentary
https://archive.fo/c0rRp AI Design principles and philosophy
https://archive.fo/lPRcU AI Software
https://archive.fo/nbA7W AI, chatbots, and waifus
https://archive.fo/SwCte About AI
https://archive.fo/y9f72 Actuators for waifu movement!
https://archive.fo/sAyZw Agalmatophilia
https://archive.fo/vHOdX Aoki Lapis model; Robot fairy
https://archive.fo/kjHh5 Artificial Wombs general
https://archive.fo/rEYe4 Batteries & Power
https://archive.fo/QBfEm Bipedal Robot Locomotion General
https://archive.fo/nO4L0 Building the ultimate waifu.
https://archive.fo/IaqKp C++ General
https://archive.fo/VlAmK Can Robowaifus Experience Love?
https://archive.fo/n6TOb Can the government really make anime real?
https://archive.fo/2RK3X Cuddling Robot
https://archive.fo/kGbHK Downloadable AI for robots?
https://archive.fo/i0W5a Electronics General
https://archive.fo/knsDo Embedded Programming Group Learning Thread 001
https://archive.fo/M8L4P Entry Level Waifu
https://archive.fo/Axxxd Fluffytail 800 dev thread
https://archive.fo/vpO2Y General Robotics news and commentary
https://archive.fo/habb1 Hold onto your papers
https://archive.fo/GNvBn Homemade doll waifu thread
https://archive.fo/59D0m Humanoid Robot Projects Videos
https://archive.fo/QKNPn IRL Drossel von Flügel?
https://archive.fo/H6MFt Important things about building living robots
https://archive.fo/zwpAv Meta Tread
https://archive.fo/3gJXH Micromouse - Minimum Viable Supercheap Open Source Robowaifu
https://archive.fo/WH2Pb My reason to live
https://archive.fo/Ch1ti Mycroft: Open Source Alexa
https://archive.fo/nVgJT NLP General
https://archive.fo/S5HgB New United Robowaifu Project
https://archive.fo/bwjgu New machine learning AI released
https://archive.fo/yFFUI Open Prosthetics
https://archive.fo/HjLB6 OpenGL Resources
https://archive.fo/PEZaa Papercraft waifu
https://archive.fo/Zbp32 Plastic Production
https://archive.fo/c2Khp Project: United Robowaifu Development
https://archive.fo/ZS3An Prototypes and failures

(1 of 2)
Edited last time by rw_archive_bot on 10/22/2019 (Tue) 04:40:12.
>>273
https://archive.fo/4oI7v Python General
https://archive.fo/jiIlz R&D General
https://archive.fo/K1mMj ROBOWAIFU U
https://archive.fo/0X004 Ricky Ma General
https://archive.fo/jhbyL Roastie Fear 2: Electric Boogaloo
https://archive.fo/1YZXA Roastie Fear General
https://archive.fo/kRw5G Robo Face Development
https://archive.fo/baQU5 RoboWaifuBanners
https://archive.fo/6a7Zv Robot Vision General
https://archive.fo/Aj3ue Robot Voices
https://archive.fo/RNuzT Robot Wife Programming
https://archive.fo/1q3TD Robot skeletons and armatures
https://archive.fo/O7Sov Robot skin? Possible sensitivity?
https://archive.fo/PggAO Robot waifu desires
https://archive.fo/6fzQg Robotics Hardware General
https://archive.fo/xYeg0 Robotics sites, organizations and projects
https://archive.fo/4XVDS Robowaifu Design Software
https://archive.fo/TozNM Robowaifu Simulator
https://archive.fo/ZWjOk Robowaifu Systems Engineering
https://archive.fo/ANueJ Robowaifu Thermal Management
https://archive.fo/h7WOV Robowaifu fiction to promote the product and expand the market
https://archive.fo/l6ie7 Robowaifu references
https://archive.fo/0YYO1 Robowaifu-OS & Robowaifu-Brain(cluster)
https://archive.fo/vGxXW Robowaifus in media
https://archive.fo/LDccH Robowaifus unique advantages
https://archive.fo/qSoqB Selecting a Programming Language
https://archive.fo/9MlZb Self-driving cars AI + hardware
https://archive.fo/q4lvk Self-replicating waifubots.
https://archive.fo/uckxp Single board computers & micro-controllers
https://archive.fo/lyjnv Speech Synthesis general
https://archive.fo/mG710 TensorFlow
https://archive.fo/j0lRU The Lounge
https://archive.fo/AXH9u The important question
https://archive.fo/awe7R Tools to Create 3D Models of Humans
https://archive.fo/rSxdo True Love
https://archive.fo/sXIrZ Visual Waifus
https://archive.fo/no96g Waifu Materials
https://archive.fo/fNNW3 Waifu Robotics Project Dump
https://archive.fo/W4jdA Waifus in society
https://archive.fo/x2aeH Walking
https://archive.fo/FmdeN Welcome to /robowaifu/
https://archive.fo/ViRty What can we buy today?
https://archive.fo/svCvW What happens to your robowaifu when you die?
https://archive.fo/XobuW Who wouldnt hug a kiwi.
https://archive.fo/BVu8m Wifu that gives you Hope.
https://archive.fo/HCuGs your file is too big onii-chan

(2 of 2)
Edited last time by rw_archive_bot on 10/22/2019 (Tue) 04:40:15.

Aoki Lapis model; Robot fairy Robowaifu Technician 09/16/2019 (Mon) 02:51:51 No.266 [Reply]
Height; 15cm
Type; Vocaloid

I'm making it in as natural looking way as I can, this means a bone structure and a similar layout of the electronics and components as with a living humanoid

This is a prototype version that I'm working on, I might change things later and make modifications or adjustments to the design or components
20 posts and 31 images omitted.
>>1037
Teflon is explicitly designed to stay slippery. You might have better success using it over plastic insulation.

>MSP430
ah got it. i plan to eventually repopulate the threads here, including the electronics learning class one.

>Fab lab
cool. i've never been to one yet tbh. expensive?

>Also might be kinda tricky to 3d draw the parts properly but I might do that later actually
There's the Fusion 360 product anon, and Blender too ofc, whenever you feel inclined to design a reproducible system others can create as well.

Good luck.
Open file (7.82 MB 2138x1932 3d-printing-filament.png)
>>1038
This insulation actually works surprisingly well like the video shows >>1004

Booking at a specific time probably costs, but I'm not sure how much and its kinda irrelevant for me right now anyway since I don't have money to spare
But it used to have open hours here for the public on specific days, I'm not sure if they have those open days since the schedule doesn't show it, but it still reads on the front page that they do, I'll have to check on that better later

I actually happened to get lucky the other day and got a bunch of 3d printing filament for free

Funnily when I started out making models for 3d printing I used sketchup
>>1039
>I actually happened to get lucky the other day and got a bunch of 3d printing filament for free
very nice, gratz.

>Funnily when I started out making models for 3d printing I used sketchup
cool, cool. how was it?
>>1042
It worked out fine, I would prefer to use something else for detail work tho
>>1047
Fusion360 can get as detailed as they come. The (((Autodesk))) and (((cloud))) lock-in aren't to my tastes however. I think I'll stick with Ton & Blender.

Cuddling Robot Robowaifu Technician 09/18/2019 (Wed) 11:37:33 No.411 [Reply]
I saw this cool looking interactive snake-bot. Thought some of you might enjoy it. Someday our waifus will cuddle us just like – no even better than – the robot in these videos.

hackaday.io/project/247-grapple
10 posts and 2 images omitted.
Open file (45.74 KB 600x315 am_i_kawaii.jpg)
>>628
>those girls can't cook worth a damn. They can't taste anything!
heh
>Do any images exist of robosnekwaifus?
don't know, i haven't looked for any personally. i know there are a number of robots now that are in a snake-like form (for crawling through pipes and rescue work, etc) so it would surprise me a bit if some anon decided to put a wig, makeup and a kawaii little dress on one tbh.
>>642
>so it wouldn't surprise me a bit*
>>628
I'd only be worried about being assaulted by schnitzel and hefeweizen daily. I could probably still conduct myself but it raises concerns about mortality.
Open file (216.32 KB 512x499 eb_question3.jpg)
>>646
>Schnitzel and Hefeweizen
Who or what?
>>657
heh this. obviously germanbro/austrianbro is considering whether it's wise to keep a pet lamia or not. :^)

Entry Level Waifu Robowaifu Technician 09/15/2019 (Sun) 08:02:15 No.245 [Reply]
So I've been lurking here for a little while. I figured it's finally time I made a thred so I have a place to share my ideas about a project I want to build. Robowaifus has been a dream of mind for a good while, i'm glad I stumbled across this place.

So with this project I want to focus on something that is viable now, with todays tech. And it has to be affordable, under $1k. I don't have 10k to drop on Real doll robot, or even 2k for a sex doll. This also has to be something an average anon like me can piece together. I'm not an engineer or a programmer.

So my fist version of this won't be including any robotics. The goal will be to put a computer inside a doll, with a voice interface and chatbot AI. As well as a battery pack so it's portable. I'm think by really focusing on the right elements, I can build an effective waifu.

I think AI is vital to robowaifus. More vital than the robotics. That's what's gonna make this whole thing a viable option. Having something you can connect with. I want to start exploring that.

That beings aid, I think from is really important too. There's no need to have an AI voice in a plain speaker like Amazon and Google are offering. We can easily do better than that. And without the botnet and privacy concerns.

I vastly prefer 2D over 3DPD. I also think it's a great way to sidestep the uncanny valley. It's herd to get a 3D version of a 2D character that looks right. One of the best I've seen are the 1/3 scale vinyl dolls like the Dollfie Dream. Danny Choo seemed like he was on the path to create a robowaifu version of these dolls with his Smart Doll, but the version he eventually released is non robotic. It does however have a mostly hollow torso that could be filled with electronics. I think the Smart Doll is a great base for a project like this, and they are highly customizable too.

Alright that's enough to start, I'll be going into more detail in future posts.
1 post omitted.
>>245
Hey anon, glad to see your project thread, welcome. Seems like you have good insight on costs. This stuff will be expensive, one way or another.

I also like the idea that good AI is a vital initial phase for your project. Sad to say, from my perspective at least, it's also the most difficult problem (in the long list of problems) to solve when inventing good robowaifus. But I think with everybody pitching in ideas, then some geniuses among us might pull of a breakthrough or two. We'll see. But as you said, we certainly do not want botnets infesting our beloved robowaifus.

And yea it's kind of a theme here "Waifubots, not slutbots", crude as it is. Why some big corporations are not already making cute waifubots is quite beyond me tbh. The pent-up demand is very plainly a huge one.

Obviously full-sized will be the most desirable, but I think for the first several years scale models are the only practical approach while keeping the costs relatively modest. Danny Choo's injection-molding line when it's in full swing will probably be a good model to look at for a BJD approach.

There's lots of challenges ahead. Good luck to us all anon.
>>454
Yeah it seems like the madman was actually gonna do it for a while, create robo waifus. They would have been expensive though and it would have been an even more niche product. Pandering to normalfags is probably the better business decision.

>>455
I see the goal of waifubots as simulating relationships and companionship. And it's not that i'm some puritan who's against the idea of sexbots, simulating sex has already been solved. Sex robots for both mean and women already exist, and have for years. Onaholes can be bought online for under $20, you can do VR on your cellphone. The technology is already here and readily available. When people say sexbot, they are usually talking about a full robotic humanoid that's also capable of having sex. That's like calling a computer a porn machine.
>>245
I know people want one that can move around and stuff, but wouldn't it be easier to focus on the AI and the mechanics first before making it fully portable? I know back when this board was on 8chan, there were a few on-going projects that just halted because of the magnitude of what they were trying to do. It would be nice to see someone's project come through without getting burned out or bogged-down.
>>504
>but wouldn't it be easier to focus on the AI and the mechanics first before making it fully portable?
Not that anon, but I agree with you anon. The challenge of creating an inexpensive bipedal robowaifu is challenging atm to a high degree imo. This is why the Visual Waifu thread was started, to enable forward progress in the AI and simulation arenas simultaneously with the mechanical systems.

>the magnitude of the problem
The laws of nature don't care how good one's intentions are, heh. You either satisfy the constraints of real physics or you fail. Simple as that. So yea, I think a lot of younger anons go into this over-enthusiastically w/o really understanding, as you indicated, the magnitude of the problem.

That opens up whole other areas of discussion about the correct approaches to this whole topic of DIY Robot Wives. I'd be happy to go there if you're up for it anon.

Hey, if this were easy, everyone would be doing it!

Open file (34.77 KB 480x360 0.jpg)
Downloadable AI for robots? Robowaifu Technician 09/15/2019 (Sun) 07:59:54 No.244 [Reply]
When I say AI, I mean actual robots that learn how to use their own inputs and outputs, not just chatbots. Are there any downloadable AI programs? I'm the OP of the Drossel thread, and I'd like to see if there's any downloadable programs for this shit. Also, I'd like some tips for inserting mounts for servos and shit inside the Drossel model.

https://www.invidio.us/watch?v=Qh2yT-AL1V8
There's shit-tier AI that comes embedded in boards such as Sparkfun Edge (tensorflow voice recognition) and ESP-EYE (face recognition), pretty limited but otherwise offline after firmware updates. I have those boards but haven't started using them yet.
Tensorflow might be your best bet. Deep learning “AI”, which is really just fancy statistics, is the current meme that lets robots learn about their bodies.

Honestly I don’t know how possible any of this is without citing some Ph.D research papers.

/robowaifu/ is NOT dead. Robowaifu Technician 09/18/2019 (Wed) 11:45:28 No.416 [Reply]
<stay tuned

Homemade doll waifu thread Robowaifu Technician 09/18/2019 (Wed) 03:58:38 No.372 [Reply]
I just found this board a few days ago but I've been planning for about a year to make a homemade sex doll, like the kind that will imminently be made illegal here in the US. I want to detail my plan. I know this board has an anti-3DPD/anti-sex-doll bias, but hear me out.

Like many on this board, I initially had the ambition to make a sophisticated robot, but realized I should start small and reproduce something others have already created. Since my preferred, ahem, flatness of doll is soon to be illegal, it would be nice to have a homemade alternative.

Smooth-On Inc sells a brand of mold-and-set silicone, available on Amazon and elsewhere, that is easy to use and designed for human prosthesis. I intend to use Ecoflex 00-30 with Silc-Pig for pigment (and freckles). I experimented with creating a homemade onahole using Ecoflex with limited success.

For the mold, I intend to build it in segments using a 3D printer. I've be practicing modeling girls in Blender. What I have so far is acceptable for my tastes, although I'm no expert at 3D modelling or the human form. I also designed 2 mold halves for a tinkerbell sized prototype. The mold halves have holes for screws (to press them together) and a funnel at the top. I got as far as exporting to STL to observe how the slicer handles it. Once I get a new 3D printer, I'll print these mold halves and pour some Ecoflex into them. I may also put in some steel wire as a makeshift skeleton.

I had a crap 3D printer that I threw out. I'm currently trying to move to a new city and therefore won't be able to buy a new printer until I get settled. Not having a printer is the number one impediment to this project right now. I would love to hear opinions on what 3D printer model is ideal. I'd be willing to spend upwards of $1k. I've been thinking of buying used to get a better deal. I'd like a large build plate to minimize the number of parts for the full sized mold.

One thing I'm not sure of is how to make the skeleton. I will experiment with 3D printing the skeleton, but I don't really know how to make linkages. Nevertheless I have started designing them using SCAD. I also wonder how the pros make the skeleton sit in the right place within the mold, without any part of the skeleton touching the mold. Would love to hear your thoughts on this.

Usually doll heads are separate from the body (screwed on at the neck) and the body is completely one piece. This is my plan, although removable arms and legs would be a possibility. I'm hoping to make a removable vagina as well, for ease of cleaning.
>>372
That sounds very interesting anon. Sorry about the printer problems I hope you get a good one soon. Probably a big print volume would be valuable for your needs. As far as professional techniques for construction and assembly, if you can find tutorials from some of the Creature Effects guys from Hollyjew I imagine they can give you some really good ideas. Stan Winston studios is one group that comes immediately to mind. Personally, I'd certainly like to see more ideas ideas (sketches, pictures?) of your mold and silicone work. That's probably an important area for all of us. Hackaday may be able to give you good ideas about how to create the armatures, etc. you mentioned.

>anti-sex-doll bias
No it doesn't. An important aspect of making lovable waifubots for anons is to be able to have sexual enjoyment with them. Asexual robowaifus are perfectly fine, but I'm fairly sure most of us want fuggable waifus. What most of us are opposed to is the uncanny-valley foam doll shit the world thinks of as 'sex robots'. I think most of us want cute waifus, not uncanny sluts.

Good luck anon, please keep us posted.
Seeing current replies to months old threads when the OP might not be here to respond is why I think you should post the original creation date(06/27/18) and a link to the archive(http://archive.is/fZCiJ) admin. Anyone interested can also read the previous replies.

This guy tried casting and molding a small test item and didn't succeed. Which is a good idea as he didn't jump into making a large expensive doll right away.

The outer covering might be the most expensive and difficult part of creating a sex doll. It might be easier and cheaper to buy parts from Chinese TPE/TPU dolls and modifying them than making your own.

>>373
You're right about what currently sells as 'sex dolls' they're just expensive huge chunks of cold plastic that generally look disgusting. That was the general consensus on the old board at the time when this thread was posted.

I've looked into what the special effects guys are doing and the silicon they use is very expensive and so are the specialized tools they use for proper casting.
>>405
not sure how the age of the post affects the information contained. and no, i've got enough on my plate already, feel free to follow along and tag every single post if you feel so inclined anon. At some point I'll populate the archives thread with both old and new archives.
>>405
>and the silicon they use is very expensive and so are the specialized tools they use for proper casting.
BTW, I've attended a Smooth-On class since this original thread was made.

Project: United Robowaifu Development Robowaifu Technician 09/18/2019 (Wed) 10:03:28 No.400 [Reply]
In this thread, multiple users volunteer to work together towards a shared goal of creating a robowaifu for production. This can be an open source or closed source project, that is up to the Anons who volunteer. Profits will be divided up after a waifu is selling. I am putting every cent I have towards prototyping and manufacturing of this waifu. I cannot afford to pay anyone. Please understand this is a volunteer project with potential for a return on investment but no guarantee. Only thing guaranteed is one Anon at the very least will be working towards a waifu for production.

Current plan for this waifu:
Height: 1 to 1.5 meter
Weight: As low as possible.
Battery Life: Ideally 16 hours for a full day of use before needing to recharge.
Physical Capabilities: A minimum of, sitting, standing, walking, laying down, and hugging her Anon.
Visual Capabilities: A minimum of being able to follow basic shapes, colors, and markers. Ideally capable of detecting her Anon and following him without need of a leash.
Auditory Capabilities: Capable of hearing and acting upon her Anons words after hearing her name. (Prevents her from acting unless you want her to.) Capable of responding with basic linguistic responses which ideally change over time.
Op here, for this project, everyone is free to assign themselves a position based on talent. I'm going to manage this project while contributing to design, engineering, and fabrication. Everyone is welcome to join this effort. Whether it's designing a linkage, designing her hands, or just giving advice, anything is welcomed and appreciated.

Here is a link to upload files to a pCloud for everyone to share: my.pcloud.com/#page=puplink&code=kzwZJ8qR0ehbWabKKPVT2Uiuk8EdMLTV

To download from this pCloud:
my.pcloud.com/publink/show?code=kZE1FH7Z44FjXkMWjq4oRViyQu90PRlCaqR7

Current limit is 10GB of usable storage as that's what's free. If you get a pCloud, I'll gladly share the folder with you.

>ed note: the original file for OP incl here

New United Robowaifu Project Robowaifu Technician 09/18/2019 (Wed) 03:52:49 No.369 [Reply]
Old thread is too long. This is our new thread. Pics related are the current designs for our cute loving robowaifu and a new logo design. New design is to be a meter tall. Current members include: Kiwi, OD, Iggy, and Dollfan. Anyone is welcome to join, all you need is love for robo grills in your heart. (Cat grill meidos are also a goal, possibly going to become the main goal. Actually, it is the main goal.)
>>369
>first
I think that's a pretty neat idea to embed the servos and motors in the the pelvic 'bone'. Do you plan to have cable harnesses of Bowden cables running from there out to the limbs, etc? One minor location adjustment I'd suggest is to also lower the battery array position closer to the pelvis too – as close as you can and still take care of the other functions needed down there properly – to keep the majority of the weight as close to the robowaifu center of mass as possible. Keeping the weight there will help in all kinds of ways when trying to work out walking, standing, and pretty much all the other motions needed.

Is there a story about the logo design OP?
>>369
The logo reminds me of the BUF flag (let's hope that doesn't intimidate Dollfan), or a bullseye. Otherwise I don't understand its meaning. For all I know, you could be doing secret illuminati stuff, Kiwi. Taking that as an aside, I'm glad you made this post. I see that you have changed the feet. What's the plan for locomotion? Don't worry if you no idea for now. The design is fine. I particularly like the silly, silly mittens you added. I kek'd at the literal addition. =)
And now for some critical thoughts. A lot of proportions are wrong. I admit I got this wrong in the first place myself, so I am pointing this out to help all of us. The shoulders are much too broad and make the robot look male, which isn't appealing. Added with the fact that the ribcage is larger than the pelvis. To which you get a bot with a gender identity crisis. Since gender dysphoria treatment can be expensive, the proportiobs should be redrawn. Don't worry. That's my job. We need a change anyways, because we are working with an adult female body scale when instead we should work with something closer to a loli type build. I've added some reference, so everyone can get a better idea. In return, I hope you can tell me the probable size each battery is going to be since that is going to be vital when considering bone size and placement. My last regards towards the design is about the femur. I love the identical accuracy, but I think that type of mechanism (at least as pictured) is limiting. Perhaps a ball-jointed femur would suffice? We're already adding ball joints to the neck as well, so why not?
I'll start the new drawing once your input is received.

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