/robowaifu/ - DIY Robot Wives

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

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


Robot skeletons and armatures Robowaifu Technician 09/13/2019 (Fri) 11:26:51 No.200
What are the best designs and materials for creating a skeleton/framework for a mobile, life-sized gynoid robot?
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>>8406 There actually was more. Only found this bc I went back to take a peek into Twitter, which I try not to do.
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>>8412 Ah, that's fine! Thanks Anon, appreciated. I'd really like to try my hand at papercrafting a shell for my robowaifu that has some similar characteristics. Once I get it right then I imagine I should be able to use that to create some hard resin forms from it. It still has to be super lightweight to work well however, or everything else involved in moving and supporting the robowaifu becomes heavier and more expensive. But I really like some of these designs so it's worth the extra effort to try something nicer.
i'm only starting to get into the technical side of the robowaifu idea, but this design (https://www.youtube.com/watch?v=aLaqMreVj9o) should be fairly simple to integrate especially when driving it most of the motors don't have to be built into the joints themselves
>>8458 Thanks Anon! Yes, that is a really clever set of designs that team are using. Keeping the mass of the actuators themselves out of the limbs themselves may prove to be the key to giving us all fluid, smoothly-moving robowaifus. Please drop more interesting things here for us.
>>8461 gladly :3 of course everything i'll find will be shared as to further the good cause! a friend of mine, who works with orthopedics showed this to me, he has a project idea i'd like to help him with to make affordable opensource prosthetics, i'm sure i'll learn a good deal to make those useful for this kind of robotics >>8461
>>8466 Sounds good. BTW, we have a prosthetics thread here >>417 . Please post any good things you know of there, as that area definitely can provide good inspiration for ever more lifelike robowaifus, etc.
I post the link here, to the files for a mount (connector) to a motor which has none and a tubeholder for a round skeleton e.g. steel or aluminium tube. I wasn't sure if here was the right place or if the actuator thread was better. However, this is more about integration of a motor into the skeleton than about the motor itself. Not sure if the PM35S even works for this project here, since it's AC and needs a special driver if it even takes DC power. I only bought my two ones spontaneous because they were very cheap and I wanted to have something for playing around. However: The whole construction could be adapted to similar designs, of course. Basically the motor has a cogwheel, but if something is connected to it, it can fall off sideways. This is meant to solve it. Might come up with other motors as well. So here it is: https://files.catbox.moe/76t3vo.gz - nothing special, pics related. I used tar.gz for compression, not sure if zip would be better (more common).
>>8584 >and a tubeholder for a round skeleton e.g. steel or aluminium tube. What about other 'tubes' like wooden dowels, or something like PVC tubing sections? Do you think your tubeholder joints would work OK in that way? >not sure if zip would be better I think any choice is fine, do what's more convenient for yourself. I'd guess that every regular here is proficient enough to use any type of compression approach. Everything looks fine on my end, BTW. >
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>>8589 >wooden dowels, or something like PVC tubing sections Yes, sure. I had plastic tubing in mind first. Wood might be a bit heavy. The hole in the upper part might need to be fitted, which is one value in the Solvespace file, more if the whole construction has to change some sizes like thickness of the walls. This is just the current state, e.g. I forgot that I wanted some holes on the side to put in some screws. Right now, only friction or other improvisations would hold it in place. Generally, the idea is to use either tubes, which should work for fast first prototyping of a skeleton. We could also use the approach beyond that, especially for combing metal with plastics. With tubes we can also use the inside, but adding printed parts around. Wherever one can feel the bone through the skin, these parts could be designed human-like to make it feel like it. In other places where the bone is more hidden under tissue, it could be bigger than a human one. Alternatively, thinner metal rods could replace the tubes later, leaving more space for printed parts. >PVC Try to use another plastic if possible. This stuff is dangerous when heated. >attached picture This is not how to print it! Just for showing how it is supposed to fit.
>>8596 >Wherever one can feel the bone through the skin, these parts could be designed human-like to make it feel like it. In other places where the bone is more hidden under tissue, it could be bigger than a human one. Great ideas. >>PVC >Try to use another plastic if possible. This stuff is dangerous when heated. Thanks for the warning. I think there is some around the house unused, but I was more about the idea rather than specifics. I'll look for alternate resources Anon.
This here, by hamcat_mqq is of course skeleton related: >>7709
>>8602 I'm looking into the topic of ball-joints right now. Including how to design and print them >>8585. I would also never rule out buying stock parts which are used somewhere, like cars or smaller vehicles. We're her to build robots, not BJ-dolls, but in some places this might be useful, starting with fast prototyping of a skeleton and then having a talking waifu standing around for motivation. Jumping into the rabitt hole of joints, made me find much more which could be useful, some familiar, but often I also forgot about them. Regular ball-joints out of steel are used in every automobile, and in many other places, so these might even be available for cheap. Maybe such ones will be useful around the shoulders or the neck, for example. https://en.wikipedia.org/wiki/Ball_joint - site includes a description of spherical rolling joint from picture one, which looks cool but might not be very useful. >rod end bearing, aka heim joint (N. America) or rose joint (U.K. and elsewhere): https://en.wikipedia.org/wiki/Rod_end_bearing >The heim joint's advantage is that the ball insert permits the rod or bolt passing through it to be misaligned to a limited degree (an angle other than 90 degrees) >If spacing is critical, female heim joints are able to be threaded on, instead of welding inserts to the shaft. When dealing with aluminium shafts, the easiest way to use heim joints is to use the female heim joint. >Light weight is a key factors when building competitive robots, so using aluminum rods and female heim joints can be key. >shifter of motorcycles. The shifting mechanism allows forces to be applied linear, but still be able to work at angles when in different gears. universal joint (universal coupling, U-joint, Cardan joint, Spicer or Hardy Spicer joint, or Hooke's joint): https://en.wikipedia.org/wiki/Universal_joint >commonly used in shafts that transmit rotary motion. Then we get to the more human stuff, which was already mentioned here before (pic 5): > 1: Ball and socket joint; 2: Condyloid joint (Ellipsoid); 3: Saddle joint; 4 Hinge joint; 5: Pivot joint; or in German: 1 Kugelgelenk, 2 Eigelenk, 3 Sattelgelenk, 4 Scharniergelenk, 5 Zapfengelenk > The ball and socket joint (or spheroid joint) is a type of synovial joint in which the ball-shaped surface of one rounded bone fits into the cup-like depression of another bone. The distal bone is capable of motion around an indefinite number of axes, which have one common center. This enables the joint to move in many directions. >An enarthrosis is a special kind of spheroidal joint in which the socket covers the sphere beyond its equator. Related: >>7588 and answers, >>7625 and answers How coupling is boing done in other machines should also be a topic of study here, since this might be useful, e.g. making sytems more flexible or safer: https://en.wikipedia.org/wiki/Coupling
>>8611 Of course I had to forget something: Link to Ball-and-socket joint (related to pic 5): https://en.wikipedia.org/wiki/Ball-and-socket_joint
>>8611 >starting with fast prototyping of a skeleton and then having a talking waifu standing around for motivation. I think this is a valid approach actually. Inspiration and motivation are important to us here. An articulated, life-sized BJD skeleton (especially one you are designing and building yourself) would be a good learning experience at the very least. And couple that with speech it would be a nice start at things. Thanks for all the joint images Anon. It's an important engineering topic obviously.
>>8584 Just realized, the folder in this file is named Feb2020 like this was a year old. No, my mind is just stuck in 2020.
>>8611 I've been trying to think of ways to mimic human hip joints using inexpensive and 3D-printed parts. I really like the MIT Mini Cheetah form-factor actuators >>4890 (>>8415) . They seems to have a good combination of power efficiency & mass, as well as being in a particularly well-suited form factor for locating down in the lower pelvis edges to drive hip joints. I wonder if anyone has any good suggestion about the kind of coupling/joints that would allow for something the Anon's dream of a ballroom dancing/ballerina robowaifu? >>7889 I think it would be absolutely revolutionary if we could build lithe & limber, dancing robowaifus someday.
>>8641 Here's a search, maybe it will help >>8642 .
>>8641 Make them walk and dance is one step after the other. Making them dance while holding a pole or something with both feet on the ground will already be something. The hip-joints are ball-and-socket-joints like here https://en.wikipedia.org/wiki/Ball-and-socket_joint - I once saw some kind of ball out of ceramics, which could be screwed onto something. Doorknob or something alike. This might be a method. On the other hand, we need a way to move current and maybe light between the extremities, for the electronics, but also communication. So we'll need to think about putting this into th joint. We'll need to add some contacts in a way that it can transmit while moving.
>>8644 >We'll need to add some contacts in a way that it can transmit while moving What I reckon would work would be to have 2 or 3 small-diameter, flexible conduits fastened through grommets in the hip 'bone', and then also down on the thighbone. Something similar up at the shoulders as well. Nothing that sticks out too much, and also flexes and bends with the ball-and-socket joint's movements. The wiring, Bowden cables, optical fibres and suchlike would ride down through these conduits around the joint areas.
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>>8644 Found this through your links Anon. Seems like it might be a useful approach where we can print out several linear actuators, then use them to manipulate plate-force areas for different angling degrees. During swaying/rocking motion while our robowaifus are walking or dancing with us, for instance. > Seems like a lower plate the Cheetah motor was affixed to on the inside for example, could be tilted to different basic angles during her gait by this type mechanism. The hip/pelvis volume could have two sets of these mechanisms operating independently. We'd have to be careful to leave volume for the robowaifu's vagoo down there ofc. https://en.wikipedia.org/wiki/Stewart_platform
>>8648 That looks like it would be useful for a waist (with a powerful motor on the top disk to allow the upper body to rotate 360 degrees). Although it's length may prevent legs being attached. But that's not a problem if your robowaifu is modular and can swap between bases - wheels and legs.
>>8650 Good observation, you're right Anon.
>>8650 Hmm, you know it occurs to me you could shape both plates to be more oval that the one in that example .gif. If you sort of designed both parts to be more like thin slice cross-sections of a female abdomen then you could have a Stewart platform that could serve pretty nicely as the base for a robowaifu's upper body. One like our Sophie here, instance. Regardless of what someone does for the hips downwards, fixed-base, wheeled buggy, actual legs, w/e, this section in her middle would work pretty nicely. Bright idea, lad. :^)
>>8656 >One like our Sophie here, for instance.
>>8646 Thanks, considering. But my hope is to integrate as much as possible into the bone, so there would be no bending parts. Not sure if I'll get there, had some thoughts on it today, while playing around with my printed ball-joints. >>8648 Interesting. I didn't really think about it in detail. I want to use motors for some muscles, soft muscles for others. I also thought about using springs or bumbers to make certain repetitive movements using low amounts of energy. Currently I dont know how to insert a bit of randomness there. The body should go down automatically if relaxed, and bumbing back if the spring is unlocked. I'll need a mechanism to change the traits of the spring, probably some mechanism that blocks it gradually. >>8656 Yes, seems to be the way. I didn't think of it as steward plattform, but this seems to be a good way to have a mental model of it. However, all of this is more for the hard shell body type like Sophie. I'd like to try move it via tha spine, more like a human.
>>8660 >I'd like to try move it via tha spine, more like a human. Yep, I think that ultimately that would be the most lifelike ideal for a robowaifu. We'll all get there with eventually I'm sure.
I posted something about DARA project, a guy developing a hand for his robot here >>8700. It's a male bot (like Data), but we might learn from it. He is also working on other parts, like feet, which is rather rare. Could have gone into the thread for bipedal locomotion >>237, but I think its more general so I put it in here: Foot, short clip: https://youtu.be/OBsXwv7m1hY[Embed] Tilt slider for leg: https://youtu.be/R9Wdc0H4iPs[Embed] Same, but more info: https://youtu.be/DW6PW5yQr4o[Embed] Toes, short clip: https://youtu.be/AbhPPy1ioXk[Embed] Middle toes V2: https://youtu.be/i7DZusCGz7k[Embed] There's more: https://youtube.com/c/DARARobot
>>8704 That's fine, I'll just xlink it here.
More from Alitas design. More pics and a explanation of the design process on the designers page here: https://vitalybulgarov.com/alita
>>9352 >>9353 That's really nice Anon, thanks. I don't know why he would choose a fugly face on some of these when a quite attractive one is available already, but w/e. He's obviously loaded with talent as a 3D artist, and this specific work is pretty fantastic tbh. Alita (the 'real' one) a cute and kinda hot, actually. It would be great to see him begin contributing to the IRL robowaifu movement as well.
>>9386 The rendered face of Rosa Salazar was just the placeholder. He made the body design, the face transformation came from Weta in Newsealand (Lord of the Rings).
>>9413 I see thanks for clearing that up, I see the resemblance. Grateful they didn't go with that face for Alita. I wonder who that director Rodriguez will go with for the MOCAP on the second movie? This one's obviously well past her prime expiration-date already.
>>9430 Lol, you're harsh. She's Alita now. The face is being manipulated anyways and they have it as a model, I don't see the problem. She plays the role and her facial expressions are being captured and used with the model the have.
>>9434 >Lol, you're harsh. Maybe. A 35 year old woman playing an action hero is pretty silly IMO. >She's Alita now. Hehe, she wouldn't be if they had put that face on the character! :-DDDD
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>>1944 More AniFĂ©e porn, also some friends.
I found some old posting of mine with links to some 3D files of the human skeleton, though it was male and I wanted to find if there's a female one now. However, I can't find the posting right now, so I can't link the results. Instead, I found a Japanes database for human anotomy: http://lifesciencedb.jp/bp3d/info_en/index.html and from there they link to the right search terms in Thingyverse: https://www.thingiverse.com/search?q=bodyparts3D&sa=&type=things&sort=relevant - Again, this might be mostly male parts but they can be used as inspiration. Just look up the differences between male and female somewhere and change your model accordingly. The other problem is, that such parts are often hard to orint with FDM. My idea is rather to use the 3D models to create simplified and feminized models which are also easier to print. The first is a list with links to download all the 3D models in obj, which might be much more, than on the second page, which seems to be a mirror for STL files on Thingyverse. I only had time to checked parts of it. http://down3dmodels.com/bodyparts3d-3-0-obj/ http://www.yeggi.com/q/bodyparts3d/?s=tt
>>9876 Thanks Anon, the effort is appreciated.
>related xpost (>>10121, >>10125)
>related xpost (>>10131 and following)
Related: >>10542
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>>10777 Pretty gorgeous details, Mr. Digits. Thanks. :^)
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>>9876 That institute has now the bone models for download. The old links didn't work properly or required to hand CC data to some shady file hoster. http://lifesciencedb.jp/bp3d/info_en/index.html#Data_download Also with information how to use the data to create models, e.g. a link to someone helping with it: https://wspr.wordpress.com/2013/05/09/bones-and-organs-and-everything-else-in-matlab/ leading to https://www.thingiverse.com/thing:31845 and from there to http://craig.bonsignore.com/2012/10/07/open-3d-human-anatomy/ which explains how to use the data in modelling programs (haven't read it, yet)
>>12878 Thanks very much Anon.
>>12878 Related: >>12905 >>12906 Yeah, I found out this whole set they have is from a male. I though they would have both sexes in it. F. However, I looked a bit found out that more female models of bones pop up from other sources, e.g.: www.thingiverse.com/thing:4946668 - I guess I have to look around more.
>>12909 I'm really starting to wonder why no one here or in the dollforum successfully designed some simple skeleton, a bit like hamcat_mmq >>7709 or armatures like 61laboratory >>9268. SophieAnon seemingly only needed a few weeks to months to render some armatures in Blender >>11776 but no one else seems to create some like those and make them printable. Then there are at least stl models of female human bones https://www.yeggi.com/q/female+pelvis/ , and I only find them by random coincidence, because no one else was even looking and mentioning it here. Not to speak of printing them and using them for a simple robowaifu. At the beginning of the forum people thought it was okay to have waifus in wheelchairs or ones which would walk on all four into the bathroom. But now, no one cares about these simple versions, they all have to at least walk somehow. Which is one of the hardest things to do and absolutely shouldn't be a high priority. I thought about this tonight, while waking up: Building a partially animated doll-like waifu or one with printed armatures on the outside would be much easier than trying to figure out how to build something very life-like. It's still gonna take years for getting a fully animated one with a human-like skeleton in the current speed and it will cost rather 10-15k than 2-3k. Just in case you're just lurking and waiting.
No one seem to have looked into how to design a knee for a robot yet. Didn't find it mentioned in this thread once. The problem is, it needs to be able to turn a bit sideways, I think It's not just a simple bi-directional movement, but more complex. Hamcat_mqq's design can do it >>7723, Alita 's design hints at it >>8412, Anifee seem to have some double-ball-joints which can do it >>9685, in action figurines it seems to consist of two hinge and one pivot joint >>7634. Human anatomy of the human knee: https://youtu.be/WhSxZWNBW3o - interesting, but the human knee is known to be a bad design. I have to look into how to design ball-joint knees, I guess.

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