/robowaifu/ - DIY Robot Wives

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

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Work on my Elfdroid Sophie Robowaifu Enthusiast 08/18/2020 (Tue) 22:49:13 No.4787
Design and 3D printing is under currently underway to turn Sophie from an articulated doll into a proper robowaifu. I will post updates to design files on her Google Drive folder when I have confirmed that everything actually works smoothly. So far I've just got her eyes moving left and right, her lower jaw can open and close, and I am working on giving her neck two degrees of freedom.
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>>4787 Excellent news Anon. We all look forward to seeing your progress on Sophie! May she soon start talking and walking!
Hey. Great! This is one of the most developed Robowaifus I know about. Looking forward to see more of her progress. However, is it possible you don't know your old threads will be bumped up if you add news there? At least the last comment would also be visible on the start page. I link to the older threads of her, so they are easier to find. Especially, since you also put STL files for printing out: >>4146. >>4198. >>2496
>>4790 Yeah, I wasn't sure that would happen, so thanks for the tip! The good thing about RL robowaifus is, once you have her head and upper chassis built, it's hard to stop. If you ever think about giving up because designing robotics is hard, your robowaifu is always there, silently imploring you to continue building and upgrading her (or in my case, maybe not so silently XD).
>>4794 That exactly what I thought was going to happen.
>>4794 >The good thing about RL robowaifus is, once you have her head and upper chassis built, it's hard to stop. If you ever think about giving up because designing robotics is hard, your robowaifu is always there, silently imploring you to continue building and upgrading her (or in my case, maybe not so silently XD). That's neat. Now I think we should all start working to make our robowaifu's heads now haha.
I checked out her hands. Did you use Teflon tube to move some Nylon threads through them, or did it work without that? These hands are very small anyways, so the holes are probably very small.
>>4826 I used thin steel gardener's wire. 1 to 1.2mm in diameter. The kind of stuff they use to tie back vines with.
>>4854 Thanks, I didn't use my brains. This hand is build for wires of course. I wanted to animate it, didn't realize the holes were for wires. Did it work well?
>>4856 I'd say it's semi-functional. She can hold small objects like a comb or microphone. However, there is very little dexterity. She can't really make a proper 'thumbs up' signal, but she can do an 'A-okay' sign. It's mainly because the thumb knuckles lack movement range. However, rather than try to upgrade this articulated hand, I plan to experiment with proper robot hands and arms (specifically the PROTO1 Humanoid Robotic Torso by Ryan Gross). It will require quite a bit of redesigning in order to look right on Sophie though. https://www.myminifactory.com/object/3d-print-humanoid-robotic-torso-proto1-48754
>>4858 Might want to do some research on hand alternatives, from my experience the design used in PROTO1 is rather lackluster. The flexible material that straightens the fingers needs to be balanced with strong enough servos to resist it and apply grip strength to grabbed object. Though my opinion is based on an ancient version of the OpenBionics Brunel hand.
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>>4858 >>4860 I was or still am interested in Sophias hands, as a placeholder. Since hands are the hardest to develop, I need at least something while doing other stuff. At the beginning gestures are sufficient, no grabbing and holding power necessary. PROTO1 looks quite interesting to me. I was looking towards this one: https://www.thingiverse.com/thing:1691704 since I've never heard of PROTO1 nor myminifactory.com as well. Might be the same hand anyways, I mean they're all quite similar. Sadly, I'm having issues with my new printer, so it might take a while anyways.
>>4862 Yup, that's the same hand by the same guy. Meanwhile... "I only want your skin, anon. So that I may become real!"
>>4866 >"I only want your skin, anon. So that I may become real!" kekd. you should greentext non-sequiturs like those. :^) Looking very interesting already Anon. Keep it up!
>>4862 >Sadly, I'm having issues with my new printer, so it might take a while anyways. I hope you can get them worked out soon Anon. Any idea what's happening with it?
>>4866 You already seem to have my PLA, Sunlu Silkwhite... Is that facemask supposed to be covered by silicone skin later? Because if so, I'm wondering if it wouldn't work better to let the whole lower side of the face move down, like InMoov does. If the current design is supposed to stay with a plastic face it makes more sense how it is designed now. Whatever, congrats to your progress.
>>4874 Thanks! This is the first version of Sophie's robotic head, and it has some big design problems. But after running the Arduino sketch for about an hour, I have been able to diagnose them. First I gotta join the "head-plug" to the lower cranium. Then I must replace the elastic band pulley in her neck with a pair of gears. The flex in that elastic band means that her head currently flops back and forth, and sometimes falls off entirely. I will also probably need to make some changes to that lower jaw. But there you go. Test, iterate, improve!
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>>4881 >But there you go. Test, iterate, improve! A good lesson for everyone. I think some anons here can get a bit discouraged by the effect of two types of motivation-inertia; 'not knowing where to start', and the presumption that 'it must be perfect' (either as a pre-work design or as a finished product). Both are a kind of fallacy. To the first point, doing anything productive will, generally speaking, naturally lead to the next thing. Every artist faces the blank page conundrum, and has throughout the ages (whatever their medium is). Secondly, it will never ever be 'perfect' (whatever that means :^) . Arguably one of the greatest artists, minds and inventors in history had a thing or two to say about this last point: > Art is never finished, only abandoned. >t. some old Italian guy Everyone should just do something, just start. The rest will naturally begin to work itself out for you if you are persistent, just like Sophie-Anon shows us here with his wonderful robowaifu.
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>>4882 Yeah, even if you fail quite often it learns you something useful or gives you parts or even tools that end up being converted or used later on. Also, it helps to remember that once started, your robowaifu "absolutely will not stop." so neither can I XD
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I have just finished testing my 'Elfdroid' head and neck, and uploaded the .stl files to Sophie's Google Drive folder: https://drive.google.com/drive/folders/18MDF0BwI9tfg0EE4ELzV_8ogsR3MGyw1?usp=sharing She now has eyes that move left and right, a jaw that opens and closes and a head/neck that can both rotate and nod thanks to the use of a couple of spur-gear assemblies. I know she looks a bit uncanny valley now, but so would you without any hair, eyebrows, eyelashes, irises or pupils XD. I have to write some proper 3d printing and building instructions but I am tired atm from doing lots of measuring and re-measuring, filing, sanding, gluing and hammering. I will say she uses 2x SPRINGRC SR431 servos for the neck and 2x SPRINGRC SR311 servos for the eyes and jaw. You'll also need 5 cupboard door magnets to hold her detachable faceplate and forehead on. The small spur-gears for her eyes should all be 3d printed on at least fine setting (0.1mm) using 100% infill for strength. Oh, and no matter how well calibrated your 3D printer is, you will end up with small seams between the external parts. I close them up using a thin layer of white decorator's caulk along each edge.
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>>4999 >I know she looks a bit uncanny valley now That's understandable at this early prototype stage. I'm sure Sophie will 'improve with age', haha. It's impressive work Anon, and an encouragement to everyone here to see your progress with Sophie the Elfdroid. Godspeed, and thanks for all the hard work! nice digits, checkem :^)
>>4999 Good, I like to see some progress. I like her nose and small chin, cute face. The forehead might be a bit high though, but never mind. Came her to point to another one making progress, which might be interesting for us, since it's animatronics. Though the vid is rather long: https://youtu.be/OtfidDWYALU
>>4999 Any chance you can post all your work on a more available file host Anon. Many of us can't (or won't) access the Google file servers. TIA. >>5015 Nice, thanks Anon. I like how his design achieves 3-DOF orbital motion for the eyeball shells using just two servos. I expect the number of servos can be reduced by at least two if the eyelids were linked and moved together.
>>5017 > Any chance you can post all your work on a more available file host I have uploaded all my files to MEGA: https://mega.nz/folder/lj5iUYYY#Zz5z6eBy7zKDmIdpZP2zNA Am also in the process of uploading to Thingiverse and MyMinifactory.
>>5015 Wow! That eye mechanism looks professionally made. Way more advanced than mine XD. One thing I learned when making my eye mechanism though, is that they are quite difficult to align properly with the inside of the eye sockets (and still get them to move unrestricted). Also, it's best to keep the inside of the head as light as possible because the more weight there, the more difficult it is to make the neck move.
Hey, I just looked into printing at least a sized down model of Sophie to look into it and test it a bit. Some questions: - Primarily I'm wondering, how did you print the Cranium? Which slicer did you use? This is a quite complicated file. Did you get all the support material out? - If you have a stl file with some good supports, could you please export that? Meshmixer seems to be good to add support manually, Cura seems to have support trees. Did you use one of those? - Would you also please export your files in dxf format? Fusion 360 can do that, but I can't use it currently. That format is more common between different CAD programs.
>>5159 seems related, Anon. >>5134
>>5159 I used Ultimaker Cura as my Slicer. Had to position the cranium with the back of the head touching the build-plate so it generated minimal supports. The cranium is a long print. It took my Copymaster 3D machine a whole 24 hours on 0.15mm layer height. Then I spent another 2 hours with sprue cutters, long-nose pliers, modelling files and sand paper neatening it all up. But that's fused filament fabrication for ya! Cheap, but quite high-effort for larger, complicated shapes. I have also uploaded the Elfdroid head design and internal mechanisms as a DXF file (40 MB), as requested.
>>5175 Thank you. > Long printing time I only print sized down models yet, and even then sometimes with a bit higher layer hight. I'm trying to redesign some of the models to make them easier to print. I'm glad you do what you're doing, but I wish more people would look into it and work on the same files. Or work on other ones and come up with a good workflow. Are we the only ones with a printer here? I seem to be the only other one printing your files.
>>5179 Glad to hear you are also having a go. TBH when I upload parts to Thingiverse or MyMiniFactory, they usually end up being used as some kind of articulated GoPro camera mount or borrowed for some drama project completely unrelated to Robowaifus. But then, people who click on the links to the STLs will still see where they originated, thus increasing exposure of people to the idea of the 3D printed robowaifu.
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>>5175 >0.15 mm layer hight Why?!? In all you pics you were putting something on her face anyways. Post-processing might be the better way anyways: >>5137
>>5186 In Cura 0.15mm layer height is classed as "normal". Also, I really dislike the ridges that come with coarse settings. I found that they tend to show through the paint, especially in certain lighting situations. I still have cleaning up to do (particularly her forehead seam, which I'm not happy with yet) but I wanted to work out more electronics and do the meat and potatoes of getting my servos working first. The first set of servos I had were for a Tinkerkit Braccio arm, and Arduino seems to have programmed them so that they are only compatible with the Braccio Shield, not interchangeable with other devices. This meant that they would always jerk violently to a "safety position" whenever I powered them on, so as you can imagine programming was a nightmare. Sophie's head used to fall apart very frequently. To overcome this unexpected flaw, I purchased some generic 25kg.cm servos, an Elegoo MEGA2560 and a Pololu Maestro servo control board. Now I am back in business.
>>5197 Not that anon, but that sounds great! Thanks for the updates.
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Video of Sophie's head/neck movement test is here: https://www.youtube.com/watch?v=_NL4fXr8QHo
>>5298 lel'd. very nice!
A very long way from Battle Angel Alita, but we gotta start somewhere XD
>>5301 >Battle Angel Alita Pfft. You're ELFDROID-SOPHIE-WAIFU will be 10 times better than that ayylmao. B/c Sophie will be real! :^)
Congrats, very nice to see some progress. Are you now trying to synchronize the mouth with the phonemes? https://youtu.be/Mva6MkP_Bco https://www.instructables.com/id/Simple-Animatronic-Mouth-Using-3D-Printing-Arduino/
>>5302 Good point! XD No matter how gorgeous CGI is, you can't reach out and feel it (or have it reach out and touch you!) >>5307 Yep, you read my mind. I have been looking at those very links today during my lunchbreak and reading about MyRobotLab/MarySpeech. I must confess it all looks quite complicated. Maybe not to implement as-is, but for me to get that code working with what I already have is definitely going to take some time since I am just a noob when it comes to Python. Also since I am working full-time (must obtain funds to build robo-waifu!) I am going to focus on building/adapting her robot arms next. Programming tends to take me ages and I make achingly slow progress XD. I think I'll get more done if I tackle the "low-hanging fruit first".
>>5314 Okay, maybe someone else will look into that. You might consider to look into existing robot arms on Thingiverse and similar sites first >>5234. It might be easier to alter one of them for your needs. Also, there might be something in one of the other threads: Hands >>4577 Skeletons and armatures >>200
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>>5029 >tfw looked at thorax_v2.stl My creative spirit is rising
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>>5348 kekd
>>5348 Unfortunately I had to cut her bum off my model. I didn't have the balls to 3D print a mold for a nice, squeezable silicone ass with my parents and relatives always hovering around. Her 3D printed PLA boobies got me enough trouble as it is, even after I'd taken the nipples off, and they're only average size! But that's the reason I open-source all her parts. The rest of you guys can go wild XD
>>5350 >But that's the reason I open-source all her parts. The rest of you guys can go wild XD Thanks Anon, we appreciate that.
>>5352 I have plans for dat ass, btw. It mustn't just be squeezable, but warm too (same with all the large, squishy parts). I'm thinking slide a few of these electrical silicone heater mats inside slots cut into the silicone outer layer. Hopefully my waifu won't burst into flames due to overheating. Will have to get one of those sex toys and use it as a test-butt before designing the real thing. Also, before I get too side-tracked by ass-cheeks, I have uploaded a few build-instructions for the Elfdroid head and neck. More to follow.
>>5354 Good idea, I think you mentioned that before somewhere. If the bottom will be squishy then it needs to be made out of silicone rubber or something alike, and this could resist a lot of heat. So I don't think it will go up in flames. Just today I briefly touched the silicone rubber heatsock of my printer after removing it from a hotend with a nozzle at 240C ... I assume you can control the heater, so I can't imagine what could go wrong. But then again, I'm the guy touching a part after removing it from a hotend at 240C...
>>5354 nice instructions, thanks anon.
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>>5350 I'm gonna laugh my ass off seeing people react to my robowaifu with her giant silicone tits. Also, sharing parts is an amazing idea. I should probably be doing this with my code, kek. WIP if anyone wants to use these tiddies: https://files.catbox.moe/uw24pa.obj >>5354 How are you gonna get heated cheeks if she isn't even allowed nipples? I can't imagine there is any doubt in their minds you're building a robowaifu. Are you going to live in fear of a thot finding out you tried to build a robo gf and failed or are you going to build the robowaifu of your dreams?
>>5354 How much does her head weigh by the way? Will 25kgcm be enough if you add more onto it?
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>>5393 You. I like you Anon. Also, >pic related
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>>5394 The head and neck (with wig on top) weighs around 855 grams.
>>5428 heh, she looks like she's about to go to town for some shopping and doesn't want the paparazzi hounding her again. :^)
>>5393 I kind of have to make Sophie a little-family friendly. This is going to cause me personally huge problems making any sexy bits more advanced. Therefore I am aiming for a modular design where she can be respectable enough to roll into a church fete in the afternoon, but with a few parts on pegs and magnets you can change her into "nightclub mode" the same evening XD. I would probably have to swap out her hard plastic chest and a flat bottom for the squishy, warmable, silicone sexy-time ones. Plus, modularity should make testing easier (and perhaps concealment).
>>5431 great ideas. look forward to what you come up with. these issues will be commonplace for many years, and it would be nice if we can adopt a standard approach to them.
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All fingers and thumb flex. That Ryan Gross is a man of his word! Beware when purchasing the paracord for the PROTO1 hand though. Not sure what type he uses, but my standard cord was too thick to fit through the holes in the fingers, so I ended up using string instead. A couple of the finger ligaments need tightening and the servo wires need labeling but if an electronics noob like me can muddle his way through building this hand, anyone can! I didn't even have to buy the metal servohorns, I just 3d printed some instead. I will upload those to Sophie's file archive in case anyone else wants to use them. This is about as quick and cheap as robotics can get!
>>5564 Great work Anon. Looking forward to Sophie's next improvements!
>>5565 Thanks! Oh, a couple more tips for anyone thinking of building this hand; 1.) Don't bother printing out the back cover panel for the forearm because it is highly unlikely to fit. I'm leaving my forearm open with the servos exposed for the time being. May cover it with white cloth later on. 2.) You may need to drill/cut a couple of small slots in the front of the forearm so that the servohorns can rotate properly. As you assemble the servos on the holder, you will soon realize that there isn't much room inside the forearm shell. 3.) Self-locking forceps (surgical forceps) come in very handy for stringing the fingers with fishing line. It's a very similar process to holding the elastic in place when stringing a ball-jointed-doll.
>>5564 You're getting closer to having a full robowaifu. Can't wait to see what's next.
>>5569 Well done, and thanks for the tips. Since I had to look up what forceps were, I found that can be made out of plastic and so you could guess were I looked next: https://www.thingiverse.com/thing:4022685 https://www.thingiverse.com/thing:3110594 How about the size? Isn't the arm wider than favourable, anyways? Looks like it was possible design it leaner. Are the CAD files available as well?
>>5607 >Are the CAD files available as well? Not him, but you might try here? >I have uploaded all my files to MEGA: https://mega.nz/folder/lj5iUYYY#Zz5z6eBy7zKDmIdpZP2zNA >>5029
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Got the jaw of my robowaifu moving by purchasing an arduino sound sensor and a cheap usb stereo speaker.The tricky part was figuring out how to get her jaw microservo to move in response to sound, but it can be accomplished using the following Arduino IDE code (copied straight from the .ino file): #include <Servo.h> Servo myservo; /* LED1 should be lit, showing power. LED2 indicates sound input, and the sensitivity is adjusted by potentiometer. There is a tiny screw on the blue potentiometer block that you can use for adjustment. Turning that clockwise lowers the potentiometer value, while counter-clockwise raises the potentiometer value. Use the potentiometer to adjust the Sound Sensor sensitivity. Turn the potentiometer several rotations until you see the LED2 extinguish (or just faintly blink). This might be slightly greater than 500, if you are also watching Serial Monitor (inital adjustment), or, Serial Plotter (the latter is prefererd for observation). Special thanks to user CRomer, for his input and hard work! */ int sensorAnalogPin = A0; // Select the Arduino input pin to accept the Sound Sensor's analog output int sensorDigitalPin = 3; // Select the Arduino input pin to accept the Sound Sensor's digital output int analogValue = 0; // Define variable to store the analog value coming from the Sound Sensor int digitalValue; // Define variable to store the digital value coming from the Sound Sensor int Led13 = 13; // Define servo port; // When D0 from the Sound Sensor (connnected to pin 7 on the // Arduino) sends High (voltage present), L will light. In practice, you // should see LED13 on the Arduino blink when LED2 on the Sensor is 100% lit. void setup() { myservo.attach(7); //attch myservo.write(90);// move servo5 to center position -> 90° Serial.begin(9600); // The IDE settings for Serial Monitor/Plotter (preferred) must match this speed pinMode(sensorDigitalPin,INPUT); // Define pin 7 as an input port, to accept digital input pinMode(Led13,OUTPUT); // Define servo5 as an output port, to indicate digital trigger reached } void loop(){ analogValue = analogRead(sensorAnalogPin); // Read the value of the analog interface A0 assigned to digitalValue digitalValue=digitalRead(sensorDigitalPin); // Read the value of the digital interface 7 assigned to digitalValue Serial.println(analogValue); // Send the analog value to the serial transmit interface if(digitalValue==HIGH) // When the Sound Sensor sends signal, via voltage present, light up LED13 AND turn myservo { digitalWrite(Led13,HIGH); myservo.write(40); delay(40); } else { digitalWrite(Led13,LOW); myservo.write(30); delay(40); } delay(25); // Slight pause so that we don't overwhelm the serial interface } This is about as expedient a solution as I could find. Prior to this I was considering purchasing a Picotalk controller, but they cost $80+shipping. Whereas a micro-servo, sound sensor and Elegoo Mega 2560 (Arduino clone) costs as little as $20 and can be used in combination with many other devices (including a servo shield to drive six or seven other servos). I am currently in the process of designing a 'voice box' for these parts to fit inside, which will have a speaker-cone to improve functionality (hopefully I won't have to hold the sound sensor 5mm away from the speaker every time I want her jaw to move with her speech). >=== -patched codetag
Edited last time by Chobitsu on 10/25/2020 (Sun) 10:32:40.
>>6013 Feck. The code tags didn't work. I am retard so I always need about five iterations to get anything working XD.
>>6014 I can fix it for you lad.
>>6015 Thank you! I plan to use this breakthrough to make Soph sing some Vocaloid songs. Her first hymn will be "Give me oil in my joints keep me moving."
>>6016 It's actually a clever approach you used. Good work, and we look forward to Sophie's progress!
Video of Sophie's first jaw movement test. I decided to use a Vocaloid song that I made earlier. It's only a simple puppet-like up-and-down jaw movement. Adding convincing lips that don't look like some kind of wrinkly horror movie animatronic is tricky. From what I've read syncing them up with individual phonemes is also extremely challenging (since a robot has no respiratory tract, breathing or voice-box, moving lips are kinda redundant anyway...unless you want to use them for....other purposes ;D). Besides, I can adjust the sound sensitivity via potentiometer and the movement delay through integers in the code, so this is enough for me. https://www.youtube.com/watch?v=VeIk1eOLp7M
>>6031 For syncing the jaw a speech synthesizer could output the locations of stressed phonemes and their length along with the audio data. This would be beneficial for singing longer syllables as well. And if it had speech recognition it could turn any speech or singing into lip sync data. Once such a speech synthesizer exists it'll be easy to feed that data in for smooth jaw movements.
>>6031 Wow you're making good progress here Anon. Keep it up! >Adding convincing lips that don't look like some kind of wrinkly horror movie animatronic is tricky. IMO you shouldn't waste time even trying with this model. This sort of The Nutcracker-type mouth has a cute appeal all by itself. And as you point out, making it work as you envision for an ideal look is going to be both difficult and expensive. I think while you're working on Sophie v1, you should now just focus on improving the lip-sync, giving her good up/down and lateral head motions, and call it a day. Remember you still have a lot of other things for her you need to attend to before she's ready. Of course, everything you learn about her today can serve you well for your improved designs for her tomorrow. But actually achieving a baseline functionality and releasing her out into the world is very important for keeping up your own design momentum, and is probably the key to unlocking your overall success eventually. Godspeed Anon
>>6031 I love that Vocaloid song. Great choice anon, Sophie a cute.
>>6049 >>6051 Thank you for your kind words! Now I just hope I don't burn my house down and/or electrocute myself because the next steps are going to require some heavy duty servo motors for the shoulders (120kg.cm) running off a bench-top power supply. >>6035 Will Cogley mentions something like this but using an Adafruit microcontoller instead of an Arduino Mega. I couldn't get any of his code working because I don't have an Adafruit and I don't think it fits with Sophie's simple design. (Also I suck at C++). But, if anyone else wants to have a go and maybe change the mouth design a bit so their robowaifu doesn't have a horrifying carnivorous maw, the download pack is located about a fifth the way down this webpage; https://www.instructables.com/Simple-Animatronic-Mouth-Using-3D-Printing-Arduino/
>>6051 Oh yeah, almost forgot. I uploaded the .vsqx file and the.stl for the little 3d-printable cone designed to fit around the Arduino sound sensor to Sophie's file repositories: 1.) https://drive.google.com/drive/folders/18MDF0BwI9tfg0EE4ELzV_8ogsR3MGyw1 2.)https://mega.nz/fm/t7wgRIaI Just in case anyone else wants to use them for testing purposes.
>>6052 Haha, stay safe in your lab Anon. >>6053 Thank you. Any suggestions for the right software to use for your vocaloid files?

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