>>25631 Tachicoma style. I see some issues with this concept that, for me, would make this viable only as an accessory removable add-on like Alita's powered skate-feet. First there is the issue of the additional weight of the drive motors and tires at the extreme end of a moment arm for any time a leg needs to be raised, like going over a curb. Each wheel would also need to be steerable, not very for the middle pair of legs, but the front and rear pairs need 180 degree of steering (for high speed pivoting in place), otherwise the bot has an extremely large turning radius (more weight). The legs need heavier suspension for the greater forces of shocks at speed (more weight), and then there is the need for more robust/powerful servos to move all of this (more weight). All of this times 8. And of course, the larger batteries required to operate everything (even more weight, and money). It seems practical only for leisurely strolls along the paved bike path in the local park at walking speed. Then there are activities or situations that wheeled feet could preclude. I haven't seen it done with an arachne character yet, but I could imagine our arachne wanting to wear hosiery to please her anon. There would also be problems with more intimate activities. Take for example cuddling or sleeping together. Imagine doing this with someone wearing roller blades times 4. Even small ones would be very uncomfortable. All in all I think this is an idea I will be happy to let someone else try. As for dealing with burglars or other intruders I think a life-sized arachne would be more than enough deterrent, especially in "menacing" mode. For myself, I want to have a squad of these little girls armored and armed with sharpened miniature weapons- swords, spears and chinese repeating crossbows: https://www.youtube.com/watch?v=C2vJA1oeBuQ

>>25617 >>25633 >>25634 >>25635 >>25636 >>25637 >>25638 Wow! Thanks so much for all the hard work Robophiliac! This work moving things over here is above and beyond the call. BTW as you just proved, any anon can do the heavy lifting for this kind of relocation work -- not just the board staff. It really helps out that you did. Thanks again Anon, cheers. :^) --- note: I'll probably do some minor cleanups ITT too. Also, I presume: > "Could you please add it to the op?" (>>25620) refers to your initial response post? (now relocated here : >>25617) < ('OP' being a keyword that means "Original Post/Original Poster" for an entire thread itself.) BTW, that older chain of conversation will be deleted from the original thread (that is, cleaned up), by either Kiwi or myself as well (now that you've properly relocated everything here ITT). So perhaps no changes are needed to your post now? >=== -add note/query -minor edit

>>25643 I meant Podolek's original question post. I should have referenced the # instead of using the lower-case op. I didn't repost his pic- I will if you want to delete his original post. I thought to give him some time to check back first just in case. I didn't move the "bird-head" spiders post or some that were just about cleaning up the thread since they won't help anyone build anything. For the same reason I added the link to the Giant Halloween Spider- people have different esthetic tastes, and Halloween is coming. For the same reason this post could be deleted. Before that happens, since this is the only monster girl-bot thread, is there any way to add something about construction to the catalog title link for this thread without screwing up all the other links? It seems to be a subject of very limited interest so it probably wouldn't justify its own thread.

>>25650 >I meant Podolek's original question post. I should have referenced the # instead of using the lower-case op. Ahh, thanks. That helps. Crosslinks remain valid whatever thread they are in, as long as the post iself still stands. >I didn't repost his pic- I will if you want to delete his original post. I thought to give him some time to check back first just in case. Truly pro-thinking, IB management-wise -- nice work. I have to account for the asynchronous lag all the time when I'm attempting to make notices, etc. I think we can just leave it there. Your relocated post will still link back to it from this thread, and any researchers of robowaifus hereafter can follow the conversation-chain that way. We can also add a 'link-chasing' post in that thread, to your newly-relocated response over in this one. As you're probably well-aware, it's practically impossible to keep everything on-topic with the imageboard forum format. Usually we just roll with it, until an off-topic conversation grows sufficiently large to be considered a 'derail'. In /robowaifu/'s case, since we really care about being a good archival resource for builders/researchers, we'll sometimes go to the trouble of relocating things -- just as you have done ITT. :^) >is there any way to add something about construction to the catalog title link for this thread without screwing up all the other links? Sure, board staff can freely edit a post's subject, including the OP's. Mind sharing an exact quote example of what you think this thread's OP's subject should be changed into Anon? >=== -minor edit

>>25651 Something like /robowaifu/ + /all things monster girl/, its benefits, the uncanny valley, projects, etc. Just so it doesn't sound as if it's strictly theory.

>>25639 >First there is the issue of the additional weight of the drive motors and tires at the extreme end of a moment arm for any time a leg needs to be raised, like going over a curb. Each wheel would also need to be steerable, not very for the middle pair of legs, but the front and rear pairs need 180 degree of steering (for high speed pivoting in place), otherwise the bot has an extremely large turning radius (more weight). The legs need heavier suspension for the greater forces of shocks at speed (more weight), and then there is the need for more robust/powerful servos to move all of this (more weight). All of this times 8. And of course, the larger batteries required to operate everything (even more weight, and money). Spoken like a true engineer, Robophiliac. Cool things are cool, but with realworld engineering, everything comes at a cost. Cf. : >-Why is keeping mass (weight) low so important? (>>4313) Since I myself am personally interested in a Tachikoma-like accessory 'ride' for our board's MaidCom project (>>15630), I've given this exact issue some thought. In my designs, U-jointed, thin metal force-transfer rods extend down along the legs to the (hollow-rim) wheels at the leg tips, and use a smol metal transaxle gearing to drive the wheels. This added complexity is simply to keep the thrown-weight of each leg down to a functional minimum. Of course in my design, the MaidCom robowaifu can step out of her tachikoma seat and therefore the 'skate boots' effect doesn't really apply. >=== -add MaidCom tachikoma cmnt

>>25653 Done. Refresh thread to view.

>>25631 Haha, that is a really excellent, creepy idea, NoidoDev! :D In all my imaginings, I see a mature robowaifu industry offering many types of accessory drones, etc., that robowaifus can use to extend their situational-awareness. Perhaps a flock of 'babby-Tachis' can be part of such a flotilla? :^)

>>25653 Thanks. Hopefully now some projects will be posted.

>>25670 >>25655 Grrrrr, wrong #

>>25617 >>25631 >>25639 You are correct, Tachikoma style robotics are the only real future. For further research, look up "wheel legged robots". Having 3+ legs is important for this style of locomotion. 2 legs requires some corrective force or a design that allows for static balancing. (Usually through extreme camber and low center of gravity.) 4 is a good compromise, an assurance of stability in nearly all situations. Though, a spiders eight legs provides ample opportunity to really have fun with many variations. As for hosiery and other fetish leg wear, I suggest keeping a set of legs human. As alluded to by Chobitsu (>>25654) MaidCom is going to have wearable wheels for her legs, to allow for this. A Tachikoma wearable is definitely in the works.

>>25617 Absolutely based effortpost— nice to see monstergirls get some love on here. I’m something of a Lamia man myself, but Arachne make my top three. Unfortunately, barring some revolutionary advances in artificial muscles, a snek-waifu is an even greater hurdle than bipedal robots imo (and even then…) Anyway, I played around with the concept (of an Arachne-platform) myself (before I got serious about that pesky “viability” thing, so my ideas at the time were still pretty whimsical)— ran in to a lot of the same challenges you brought up, but instead of scaling down or going with wheeled limbs, I ended up reducing the number of legs and adding an extra joint/increasing range of motion. The end result was a four-legged… uh, *thing*, with “shoulder” joints rotating over 200deg around Y (top-down) so that it could squeeze through doorways. Of course, to keep up its movement speed through em, I had to add an extra joint that let part of the legs collapse “inward” towards the body during narrow forward motion, in a manner that no natural creature ever could… the walk-cycle, just an animated stick-figure, was something even I found unnerving lmao Iirc, I scrapped the design more out of losing interest than issues with physical viability (though it was tethered, so no batteries to worry about)… I’ll see if I can dig up that notebook sometime. Even if the overall design is cursed, some of it could be useful to Greentext Anon or any monstergirl-frens, especially since it used (sleeved) cables to drive itself with all motors kept within the main body/”shoulders”. Of course, as Kiwi mentioned in >>25687, "pure" walking robots like it probably aren’t all the viable in the foreseeable future, unless it’s a novelty/design requirement from the start. Still, a man’s gotta dream, right?

>>25691 I definitely want to see any notes you may have about your arachne project. Even failures can teach us, we even have a thread for them for that reason. I'm also planning on the sheathed cable method for all my robot projects over 1m in size. That's about the limit for hobby/robotic servos at joints, and knobby joints are to be avoided as I'll explain in a later post. What kind of actuators did you use to move the legs? As I mentioned before I would also add a third leg segment to each leg, but at the position where the "knee" servo is located in the "spider585" design. In this way when the legs are pulled in for doorways they tend to "tent" over the body. The leg segments would also be curved, as I will explain in an upcoming post on why NOT to build arachne as large as possible. For me eight legs are a must- I like a challenge. Spider walking gait- NOT for the squeamish: https://www.youtube.com/watch?v=GtHzpX0FCFY

>>25671 Heh, no worries Anon. :^) BTW, as mentioned, we'll be doing some cleanup ITT, so these 'administrivia' dialog posts (concerning the relocation, etc) will be getting cleaned up shortly.

>>25687 Those are really cool Anon. Thanks! :^) >>25691 > I’m something of a Lamia man myself Snek grills are already an important class of realworld robotics systems today! >>25697 > the sheathed cable method Something like Bowden cables, Anon? > NOT for the squeamish: Lol thanks. :^) >=== -add'l resp

>>25700 >Something like Bowden cables, Anon? More like bicycle or stainless steel aircraft cables in a pull-pull arrangement. The sheath is a spiral wound steel "spring" with a plastic coating.

>>25691 > barring some revolutionary advances in artificial muscles, a snek-waifu is an even greater hurdle than bipedal robots On the contrary. Lets say the robo-lamia's body is 18" in diameter and xx feet long. The skeleton is made of a central spine composed of short straight sections of rod joined end to end by ball joints so it can flex but not shrink in length. Regularly spaced along the spine are disc "vertabrae" (actually rings with centering struts) to which are mounted servo actuators, one each operating a cable pull-pull system. These servos operate like winches for model sailboats but have several cables attached to different vertebrae rearward along the body on opposing sides for a few feet. When cables are drawn in on one side they are let out on the other side. These alternate from side to side and top and bottom so that one vertebrae has a servo for side to side contraction, the next has a servo for vertical contraction, rinse and repeat, with the servos in either plane alternating from side to side to allow tighter coiling of the body. As the body tapers smaller actuators can be used, and none are needed beyond 3 or 4 feet from the end of the tail. Open cell foam donuts (seat cushion) are fixed with velcro between the vertabrae to fill out the body shape and leave an internal void for batteries, cooling system, etc. Velcro for ease of maintenance and adjustment. The body can be covered with snake-skin patterned upholstery viny. Vinyl won't shrink or stretch to accomodate the range of motion so it must be attached in overlapping ring segments so the skin can telescope as the body moves. This will also allow air to vent as the foam is crushed. Use a geared reduction drive for the servo pots for position control, depending on the size of the cable drum. Brakes on the winches so the body can hold shape without burning electrons would be good. Blend snake body with female upper body and voila: a Lamia. The biggest problem (other than coding) will probably be wear-and-tear of the vinyl belly skin from locomotion. I strongly recommend that you add a signal wire to the center tap of each potentiometer so that position confirmation can be read through an A-to-D converter. Not only will this help prevent damage to a stalled servo (code detecting a fault causing shutdown) but you can read a log file to see which servos may need adjustment. Even better, you could write your code so that your lamia can be set to "maquette programing mode" in which you could move the body, arms, hands etc. and record the pot inputs to be repeated later. With the log file for debugging, you could program actions in hours (sometimes minutes) that might take weeks otherwise. Enjoy! My $.02 Next?

>>25639 I haven't seen it done with an arachne character yet, but I could imagine our arachne wanting to wear hosiery to please her anon. Turns out this is already a thing so keeping that possibility- no wheels. What healthy red-blooded anon wouldn't love a sexy gal in lingerie and hose?

>>25702 I think I understand. Do you happen to have an example image of this arrangement? >>25707 >"maquette programing mode" If this is an interest for anons, I'd recommend looking into Motion Control (‘MoCo’) for the VFX film industry. It's a pretty mature tech that has been used for tiny little sprite-like characters up to yuge dinosaurs. It's also directly-transferable to the CGI industry as well.

>>25723 >Do you happen to have an example image of this arrangement? Sure thing. Here's one of many videos showing the pull-pull setup in an RC plane. They omit the cable sheath to save weight since it isn't necessary here except for where the cables pass through the aircraft skin. The design dates back to early aircraft when the pilots rudder control was via a pivoting foot bar, much like modern straigt bicycle handlebars. The rudder cables were attached to the ends of the bar. Push with the left foot and the rudder is pulled left, push with the right foot and the rudder is pulled right- pull-pull. Back in the day they would have the cables go through a patch of leather to protect the aircraft skin. This method has been used in small aircraft ever since, even WWII fighters and bombers before hydraulics. https://www.youtube.com/watch?v=RMxIBA2pZgE

>>25722 Mein Gott, das ist heiß!

The site of a cosplayer and her life-size Rachnera. Lots of good information but I'm not doing anything that big. What would you do with it when family visits? P) https://mcbourbonnais.com/en/portfolio/the-making-of-rachnera-arachnera-cosplay-from-monster-musume/

>>25691 >Snek chad There's two main ways to make a snake robot. The really complex way with servos to control every segment. Which >>25707 does a decent job explaining. You can also just have a two wheeled base with a tail. This is the easiest but, you'll want to hide her wheels. It's exciting to see more attention to the potential of monster girl waifus. My end game is a harpy. I love wings What kind of monster would you want to love?

>>25747 >You can also just have a two wheeled base with a tail. This is the easiest but, you'll want to hide her wheels. Anon clearly wrote: > barring some revolutionary advances in artificial muscles This indicates his desire to emulate the musculature and capabilities (to whatever degree) of real snakes, as part of a lamia, not build a toy train disguised as a snake. The train snake fails in so many ways- It cannot move like a snake, it is so un-snake-like as to introduce the uncanny valley to snakes. It has an extremely large turning radius, so it would be impossible to move around inside a house. That large curving limit and the lack of vertical actuators means it can't coil up and uncoil to change direction. It also cant coil around anon, and even if it could he wouldn't want it to because of all those hard wheels digging into his body. You could add actuators to do this, and a wheel retraction system like aircraft landing gear with covering doors, but now you have achieved just as much (probably more) complexity as just doing it right to start with. It can't get into bed with anon, or go up a set of stairs- Ok, it could probably drag its body up using its arms grabbing the railing stiles, if it doesn't rip them out trying. In my house it couldn't negotiate the landing at the top of the stairs. It couldn't do anything height-related like reaching up into cabinets for ingredients or dishes without using extended reach tools. With all the limitations of the train design vs faux-musculature, why would any anon want to build something that is only 20% of the way to the end goal (if we include the female upper body) instead of 80 to 90% of the "real" thing. I could go on with examples of performance failure but lets skip to the day when we finally do have an AI for our waifus and you switch it on. Do you want her to look at her body, start to cry and beg you for a better body? Wheels on snakes is a bad idea. > My end game is a harpy. I love wings OK, to each his own. Wings are interesting but a harpy *cant give anon a hand-job* or perform any of the infinite variety of supportive activities that require hands on arms, and clawed feet will wreck your sheets. Got a waterbed? I'd suggest a demon, possibly a winged succubus.

>>25617 >>25637 https://babylonbee.com/news/government-clarifies-alert-message-reading-the-arachnids-are-here-run-for-your-lives-just-a-test :DD >>25743 Lol. At least she's all-in with her cosplay. >>25747 >2nd pic That looks a lot like one of the real-world snek waifus used for pipe inspection, search & rescue, and ship welding, etc., today. >I love wings >What kind of monster would you want to love? Chii having wings would be kinda cool if she can take them off too. For now, I think just a 'Catgrill Meido' accessory kit complete with ears, tail, and cute French maid outfit would suit me OK. :^)

>>25798 >a 'Catgrill Meido' accessory kit complete with ears, tail, and cute French maid outfit would suit me OK Great timing, I was just finishing up a post and added it. >https://babylonbee.com/news/government-clarifies-alert-message-reading-the-arachnids-are-here-run-for-your-lives-just-a-test Love those guys.

>>25654 > In my designs, U-jointed, thin metal force-transfer rods extend down along the legs to the (hollow-rim) wheels at the leg tips, and use a smol metal transaxle gearing to drive the wheels. This added complexity is simply to keep the thrown-weight of each leg down to a functional minimum That seems realy complex with rods, u-joints, carrier bearings, clutching and unclutching, steering controls, all running through bending joints- Lots of possible failure points and a maintenance headache. If you really want a mechanical power system take a look at old-fachioned belt-driven dentist drills. See picrels. Much simpler. Hopefully you never had to experience one. But I recommend going with BLDC motors like these >>25783 . Much of the work is already done.

>>25803 Yah, that's some really good advice Anon, thanks! :^)

>>25617 > the maximum size of a robot arachne will be determined by several design considerations but primarily the physical constraints of the operating environment Time to consider the minimum size parameters. Skip to the last paragraph of the next post if you don't want to follow my thought process. It can be any size but simply put, what size does it need to be to be intimate with anon? *What? You aren't planning to get jiggy with this after taking the time to build it? Keep reading.* For an arachne that's not as easy a question to answer as it may at first seem. For a normal humanoid shape a size comparable to anon is prefered in order to be capable of performing all of the usual acts in the usual positions. For a non-humanoid shape some things may not be possible. For example a centaur cannot *have face to face sample exchange with anon, so the missionary position is not possible.* Similarly a lamia *can't do doggy.* Arachne, or "spider-girls" are not as set in their design and some forms have problems that others don't, as relates to size. Here's a collection of spider-girl stories to show some of the variety of concepts: NSFW! https://nhentai.net/search/?q=spider+girl&page=1 Lets deal with the elephant in the room. As you can see from the artwork there is quite a bit of variation but one thing they almost all have in common is *knitting.* It's one of their defining characteristics, spiderwebs are synonymous with spiders, and also affects the design of our robot. Whether anon wants his spider-girl to be able to do a little or a lot, (and safely) or none at all turns out to be important to her size, so lets look at some possibilities that we might be able do now. Spinnerets- faux spider silk. Trying for realism first and seeing what if anything already exists we first think of silly-string- too weak. It might be perfect if it was stronger but it's not. What about other materials like nylon that doesn't solidify until two chemicals are mixed? They could be extruded like fine denier yarn for making hosiery from a bank of nozzles supplied by on-board tanks. There are problems with that concept. To start with while the individual threads are easily breakable but many are stronger just the way we want, in our application the threads would ravel together to make a tough and very thin cord that would cause injury. But the worse problem is that in order to use those chemicals anon would need to wear a respirator and (depending on locale) might need a hazardous materials permit to buy it. What about ready made thread, say in spools inside the abdomen, fed out and manipulated by the rear legs? A cutting blade would cut the thread at the end of each operation. As far as I know there has never been an effort to program robot spider legs to weave web (maybe the cgi team who did the spider attack on Frodo in the TLOR movie) and it would probably take a while to do. It would probably be more practical to have the spray-head/dispensers at the ends of the two rear legs. Regardless, there is still the problem of the thread bunching together to make a tough narrow cord. Maybe coat the thread with a fast-acting flexible and non-toxic adhesive to keep it from moving while being applied? There may be a medical adhesive that will do but it would require its own dispensing system, and what keeps it from sticking to the spider's legs? We also need to keep in mind that the more complicated our design is, the less likely it is to ever become a reality. OK, how about using the legs to tie up anon with pre-made material like thicker rope from the abdomen? Robots are only just beginning to learn to tie knots with hands, (simple grippers) let alone our spider's legs. A robot that can tie shoelaces has been built by college students but it is very specialized and not suitable. A prosthetic hand can do it but only if worn by a human who has his other original hand. Research continues. We also need to address the safety issue of strong binding materials and ligature injury. We might also (or not) want to have a blade or sharp cutting tool on a leg to cut the rope during tying or once the session is done or for emergencies. Preset lengths of rope could be dispensed but that could be repetitive and we still have the problem of tying knots. How about tape? It has long been a staple of *knitting circles* and it's sticky on one side so it won't move and doesn't need to be tied. There is still the problem of being half as sticky on the legs, and if the tape tears coming off the roll how does our girl find the end to continue? Cling wrap? Very interesting but comes with a risk of asphyxiation. Caution tape? How is it secured? What about dropping the abdominal or leg dispensers altogether and just use restraints? The legs can't do it. Elastic bands like elastrator? NO! for the same reason it was invented- elastic will keep constricting and close off blood flow, and should never be used in this kind of play. Lots of other materials considered and rejected for now, maybe another anon can figure it out. Forget the legs, what about her hands? Maybe.

>>25822 If the hands and arms, all the human parts of our girl are fully functional then probably she can operate some mechanisms or use Velcro fasteners, but this is where size plays a factor. The smaller the hands are the more difficult they are to build and install sensors, and the less force they can use to perform tasks, smaller servos being weaker. Assuming our robot can learn to do things like *operate a pair of handcuffs* (lots of plastic ones on Thingiverse but remember that some types cant be opened by the wearer even with the key) then the question of the size of the spider-girl's human anatomy becomes most important. If anon wants to maintain the proportions of the design he likes then that could cause a problem. >>25743 If we scale down the spider body to something that will fit in anon's house and scale the human form with it then the arms and hands can only *perform a week handshake, if that.* They will be too week and delicate for anything else, including household chores. Worse yet *her mouth will be too small to perform a raspberry* and depending on the arrangement of the pedipalps (those two little arms on either side of a spider's mouth- Rachnera' human-like "legs") there may be no room for an *easy-bake oven* in front leaving the only space for one under the abdomen, where spiders usually have their equivalent. More on the pedipalp problem next post. So we have determined that our spider-girl's human anatomy needs to be at least life-size smallish, my guestimate is no smaller than the equivalent of a 5' tall woman, depending on anon's dependant. What about the spider body? We see that it needs to be downsized to something manageable and that at this time there is a problem making it useful for *gift wrapping.* Lets revisit that problem. If we take a step back and generalize the concept of what spiders do we may gain an insight. Basically spiders trap and immobilize their prey before sucking it dry. And there is the answer to both problems. We can size the spider body and design the shape of the legs so that when they are wrapped around anon's body and arms they form a cage trapping anon inside. Arachne-waifu can now play with anon at her leisure. *Anon better have a safe word.* The middle leg segment of each leg also forms the vertical bars of the "cage" taking the weight of his waifu so there is no danger of him being crushed, and there is no longer any ligature hazard *and no rope marks at work on Monday.* This also means that anon no longer needs any *bondage gear, but that's up to anon and his waifu. Or should that be up to the spider-waifu and her anon?* Anon's body becomes the standard of measure in determining the size of his spider-waifu. The legs need to be curved to more evenly spread any pressure over anon's body, and the inner/under surfaces should be padded, especially if anon is lying on the entrapping lower legs in bed- he may end up spending the night that way. A memory foam mattress might be helpful. Contact and pressure sensors, lots of them. And if anon wants to accept the other drawbacks he can downsize the human body part to suit his esthetic tastes. But lets hold off on that until after the next post in this series on proportions and *where and how to implement the naughty bits.* >>25738 >Mein Gott, das ist heiß! Even more so when you know *she wants to demonstrate her knitting and have her way with you.* Oh, and the "sucking their prey dry" part: NSFW! https://www.youtube.com/watch?v=QOYZcUXaKvI

>>25823 Now that we know that the spider-girl's legs are based on a cross-section of her anon's body and arms, and why, we need to determine where to place other *dealer options.* Just as before, this will be based on her anon's body but this time the main concern is his height, as in how tall he is. Assuming again that we want our girl to be able to perform all of the usual activities, it turns out that she can have 4 *performance packages* installed instead of the usual 3. Just as with any other humanoid there is the front grill. Presumably other anons are working on *customization* of this part so we won't give it any more face time.. Similarly there is the *rear bumper with optional hitch* which in spiders is located in the same opening as the spinnerets. Again lets not waste effort repeating other's work. Now we come to this vehicle's truly unique performance upgrade, the option for*dual torque converters.* One is located in the front of the body between the pedipalps (if equipped) and the other is located on the underside of the *trunk (boot for you imperials).* Ideally they are separated by a distance that allows anon to make use of both at the same time, hence our concern with anon's height. In this way the arachne can practice her *manual stick shift technique* at the same time anon is *mastering playing the kazoo*. If we are careful to maintain the same spacing between the front grill and front torque converter, and between the rear torque converter and the rear bumper hitch, then anon and his waifu can enjoy all 4 performance packages, 2 at a time in 6 possible combinations. They operate controlled by the same *vacuum ignition timing advance* and with clever internal valving the arachne can direct this wherever needed. Of course it's possible to go with the standard layout of one torque converter but adding a second is so cheap ($20 at most) why not? How's that for a dealer's incentive? So now we know how to derive the principal dimensions of our robot spider-girl. All kidding aside, anticipating we will have AI/SI in our robot waifus and given the nature of spider-girls, I think using these design parameters would yield the best results in having a caring, loving and sensual relationship that would be very unlikely to ever devolve into dull routine. I said before that the pedipalps could be a problem. That's because arachne are hybrids and that anatomy doesn't always work for some activities- or so it seems now without actually having tried. They will just be in the way at times. And since they are there to help real spiders eat they are often left off in drawings of arachne. If you leave them in place what do they do? Rachnera's look great and sometimes are useful but other times not so much. They would however provide extra space for equipment since they are essentially hollow- no hands or feet so few servos. In my concept of a humanoid robot I plan to use the upper legs for battery stowage based on the weapon system of Robocop for "hot swapping" batteries. When her batteries are running low my robo-waifu would walk up to a wall charging unit. The leg "holster" with the battery with the lowest charge would pop open and she would remove the battery and insert it into an empty charging slot. She would then grasp a fully charged battery and insert it into the empty holster and close it. Once she has confirmed that she is drawing power from the new battery she would repeat the procedure with the battery in the other leg, regardless of remaining charge, and go back to doing whatever she was doing before the battery swap. In this way she can function the way only robots can (and are supposed to), indefinitely. I could do the same with Rachnera's pedipalps if they can be kept. If not I'm not sure where to stow batteries so they are swappable. A possibility is using the upper section of a raised "hump" shaped abdomen. The human body would be able to rotate completely around to face the rear to do this. However this would make having the robot lie on it's back for certain activities problematic. Of course we don't know yet if we can even have our arachne-bot roll over, or if it's then possible for it to right itself. Maybe a floor mounted unit that automatically swaps batteries from the abdomen when she stands over it? There are many engineering challenges still to consider. But that's all for now.

>>25825 After endeavoring to read your fantasy novel, you should make a list. Carefully consider features based on what matters the most. Number them based on what's most important. Spider girls or Arachne, are theoretically one of the most feasible types of robot girls. Mechanisms such as this (https://hackaday.io/project/169824-racing-spider ) allow for two motors to drive her with tank steering. Your current ideas can be implemented together but, she'd cost heaps. What is your budget? How long do you want her to function between battery swaps? >=== -patch hotlink

>>25826 > (https://hackaday.io/project/169824-racing-spider) Are you being serious? Look at this: https://www.youtube.com/watch?v=-vVblGlIMgw&t=19s https://store.robugtix.com/ >What is your budget? As said this is an exercise in theory. I have not decided to build one. However I have been collecting tools, parts and materials getting ready for a robot project for years so at this point probably a few hundred dollars more for what remains. Depending on the project possibly less. > How long do you want her to function between battery swaps? I would be happy if it went 30 to 60 minutes between swaps. That doesn't sound like much until you realise that most houshold tasks don't require moving around. For example cooking, folding laundry, and doing dishes are done in a fixed area and so a robot wouldn't use power in not moving around. Those "stations" could even have charging ports to take advantage of that, or use an RF field like in "My Wife Has No Emotion". There was a robot project online called "Leaf Project" (now 404) that would search out and plug itself into wall outlets. Our waifu could do the same if she had an AC charging system. > you should make a list. Carefully consider features based on what matters the most There are only two things that really matter (3 if you also want web-spinning), legs capable enough and the code to move them. Everything for humanoid upper bodies is already being done. If anyone wants to build a spider-bot I would suggest looking into whether the Robugtix T8X has been hacked, or if there is any open-source code for moving spider legs. If you are willing to settle for six legs there is plenty online. Eight legs could be a problem. I would start going through the tech hobby blogs and the 454 listings on github for "spider robot". For the legs pick a target weight you want to stay below, say 100kg to have excess strength. Then find out how many legs of a spider are off the ground at one time as it is moving. Subtract that number from 8 and divide 100kg by the answer. That tells you how much weight each leg must be able to support. Start working on a leg design that can do that. You might want to make each leg identical and easily completely removable as a unit for easy swap-out with spares and shorter down time.

>>25838 >3 if you also want web-spinning Lol'd. :D >That tells you how much weight each leg must be able to support. I would suggest you'd be wiser to give yourself a ~20% overhead buffer, beyond the baseline minimum. >You might want to make each leg identical and easily completely removable as a unit for easy swap-out with spares and shorter down time. Very wise design principles tbh. >=== -add'l cmnt

>>25838 >I'm not building her Lying is wrong >My budget is a few hundred Nice, you can do much with that. >Just plug her in True, this will make her construction easier. A UPS only battery is simple. >Her spider legs and dexterity are number 1. As a fellow leg man, I understand. >Here's how to make her I'm making a bird wife. I like how you're thinking. >>25845 >20% safety factor Spoken like an actual engineer, everyone should remember this.

>>25852 >I'm not building her >Lying is wrong Well, that's how it started, but the more I learn I seem to be talking myself into it. Four! >>25845 >20% safety factor That's why I said 100kg (220 lbs). I figured that was way more than it would turn out to be, and a nice round number. >Her spider legs and dexterity are number 1. As a fellow leg man, I understand. Agreed. However, I have never liked women with hairy legs, no matter how many they have.

>>25826 >You might want to make each leg identical and easily completely removable as a unit for easy swap-out with spares and shorter down time. >>25852 >Her spider legs and dexterity are number 1 I've been thinking some more about the pedipalp issue and their occasional use as pseudo arms, and the design of the legs. If the forelegs are made so they can rotate upward at the hip (shoulder?) and move in the horizontal plane or higher, then they can replace the pedipalps and the spider girl is more like a centaur. If we want to experiment with web spinning, then the rearmost pair of legs would need a similar increase in range of motion. So, we need two types of leg units. Is there any advantage to doing the same thing with the middle pair of legs, other than once again having one design again? At the moment all I can think of is the possibility of having all the legs lay flat as the spider girl is laying down in bed so that the covers aren't tented over her (and anon). Does her body weight allow for her to lay unsupported on anon? Can the legs be rotated and held at an angle and locked to support the weight or will power need to be used to hold the actuator's position? Is there any way for anon to be comfortable laying on her legs beside her? Maybe just give the spider girl as much range of motion as we can and let her and anon work it out for themselves. Of course, doing so means 8 more actuators and their hardware- $ and weight. I considered the idea of a retractable monopod that could take the waifu's weight to save power during some stationary tasks. Obviously, this couldn't be used in bed and if she has one of these her design should include some kind of manual safety lock to prevent accidental impalement of anon.

>>25852 >I'm making a bird wife. For the long tapered wing bones I'd suggest fishing rods. Made of fiberglass they are strong, flexible and very light and over time you can find them cheap at yard and garage sales and flea markets.

Kinda interesting how almost everyone on here enjoys monstergirls... All different types, too. We’ve got: - arachne - lamia - harpy - catgirls (/ doggirls) - centaur / pone - dragon Just throw in a mermaid and we’ve got our own monster-musume cast >but you forgot- No. I am NOT getting grey-goo’d. >>25697 < (last week, forgot to post) Sure, I’ll look for that notebook. Doesn’t seem like it’s in my office, so I’ll take a look at my storage unit next time I’m in the area— there was a breakup and a hasty move between then and now, though, so no promises. Checked both my office and storage unit, no dice. RIP my senior year designs As for the actuators, they were heavily geared-down full-size motors (smaller versions of the one in my current project, see >>24744 ), but the system to drive the cables was the interesting bit— I used a conical, high-friction double-sided (driving pull-pull) “pulley” with a rack-driven cable outlet, letting me change torque/mechanical advantage on the fly (the design was inspired by a CVT). Messed around with it back in college, but I ran into issues with cable slippage under load… Not sure I ever solved that, tbh >>25707 Worth noting, both for your previous question (on driving cables) and this— in my experience, you don’t really need servos/steppers in cases where the motor is geared down enough such that its output can measured in rotations-per-*second* (rather, you can close the loop with an external controller) AND it’s driving enough of a load that you can stop near-instantly (or you have a separate mechanism for braking, or stopping can be reliably modeled and thus done electronically, etc.) In those cases, the backlash/slop/inertia inherent to the drive mechanism will exceed the range addressable by an integral closed-loop (servos) or discrete coils (steppers), so you end up with little-to-no benefit at the cost of both expense and weaker motors. >>25707 To respond to the Lamia design ideas specifically, it sounds like our ideas started out pretty similarly— the sticking point with mine was when I started studying snake locomotion. The conclusion I came to at the time (and it seems to still be correct, based on the below papers) was that you’d need at least 5 separate contractile regions, all independently addressable, AND able to contract dY (ie, capable of lifting portions of the snake’s body off the ground, or at least lowering friction for that region) for the snake-bot to be capable of any generalized sort of locomotion. And barring that, well… I think we can all guess how I feel about “form over function” lmao https://pubmed.ncbi.nlm.nih.gov/32271916/ (source analysis) https://pubmed.ncbi.nlm.nih.gov/36296136/ (proposed robotic design based on analysis) >>25825 It’s been a couple years since I kicked back and read some manga… to think there were monster-girl series I don’t recognize. Christmas came early, boys! >>25852 My mentor used to say something along the lines of “10% tolerance, 20% for safety— 50% if you’re stuck using the damned thing.” - (a man who didn’t pay for his prototypes)

>>25825 Truly exhaustive dive into spidergirl platform funtime, mobility and logisticsc. As for battery allocation and change i do believe you need to put them in abdomen if for nothing else so that its center of mass is not on first pair of legs due to amonut of silicone and actuators located in "fleshy" half that have to be offest somehow, not to mention very limited volume of pedipals useful for energy storage (tho i could see them used in system where instead of batteries you are changing electrolyte). Instead make her park over docking station with multiple charginng ports on scissor lift tables so you can hot-swapp cellblock (you most likely don't want to shut down your bot while pulling out battery) without crane/straining upperbody, reps. having added musculature and structural reiforcement to handle swapping battery from the top. Additionally when you are home and not in a hurry to leave outside with your companion it might be reasonable to plug her on aproprietally long extention cable.

>>25856 >no pedipals I believe there is a value in having that pair of limbs that are not as massive as walking legs but offer utility inholding, pulling both in "bedroom grapling" IYKWIM as well as daily tasks where limbs attached lower on the body offer more strenght and lighter build flesh half. >body weight While there is hard punishment for pilling on overall mass there is no such limitation on volume as in humanoid bots. If you want to you can make spider part large and hollow as there is not much articulation in it, surface is not suposed to be soft nor compliant and you expect it to be large so it stayes in proportion to human half. >locked joints it might be beneficial to have something that can take over servos whenever bot stays in one position over longer period of time granted the mechanisms (e.g. friction brake operated by solenoid/hydrolics) does not add too much total dead weight to machine. >retractable monopod Yes. And 4 wheel pod. And gasguzzling bike.

>>26014 >Mermaid Sea Bishop best mer-wife >Lost designs In the future, it is best to keep several digital copies on multiple offline drives (HDD/SSD/USB Drive etc...) A physical printout is also recommended if possible. (This is advice for everyone.) >>25856 >Pedipalps They have highly advantageous, if not essential to the very essence of an Arachne. Based on spider anatomy, there only needs to be one leg design, simply with variable lengths between joints. Consider her palps as her crotch arms. For the sake of ease of programming her IK, I would keep the difference minimal. >Leg rotation relative to hips Difficult to say how best to implement this. My gut feeling would be to have front and back sets of legs on a pivot controlled by a worm drive to limit back driving. >>26035 >Make her hollow This is going to be the name of the game for all waifu above 1 meter in height. Mass goes up by cubes when things are solid. A spider hard exo-skeleton make it easy. Just add actuation points for ropes to anchor onto and centralize her motors. Fourth picrel for inspiration, you can imagine how to anchor ropes onto internal parts of this human exo-skeleton for desired movements.

>>26037 >Pedipalps >They are highly advantageous, if not essential to the very essence of an Arachne. Not so much. The function of the pedipalps is taken over by the human arms, and they make the position in the picrel very difficult to achieve, especially with a partner.*sorry for the hairy legs*

>>26014 > I used a conical, high-friction double-sided (driving pull-pull) “pulley” with a rack-driven cable outlet, letting me change torque/mechanical advantage on the fly, but I ran into issues with cable slippage under load… I'm not sure I fully understand the design without a drawing or more details. It did remind me of a v-belt to roller-chain power transfer design used in the transmission of a scaled replica tank. Maybe it would solve the issue? The description of the "Davey Belt" starts in the second half of this video: Badger Mk1 Episode 5 https://www.youtube.com/watch?v=Qq8evp0JTks >Power transfer and cables I am thinking to use a system where cables link to the ends of a short length of roller-chain that engages sprockets at the joints of the legs and (smaller) drive sprockets on the shafts of the actuators. This is a system long used in aircraft control columns to move ailerons and in boats to move rudders, see picrels. This will allow the use of less powerful but faster drive actuators. >Larger joint sprockets than driven sprockets increases the torque at the expense of rotational speed. The leg joints only have to move about 10 degrees or less for a step so the actual movement is small. Only the hip joint has a relatively large arc of "swing" of 30 to 40 degrees. For the hip I'm thinking a cord section of a large ring gear could be driven by a small pinion gear. >>26035 >Brakes on joints Yes, currently looking at e-scooter band-brakes and bicycle hydraulic disc brakes, solenoid operated to disengage and allow movement when activated, so standing still draws no power. Possibly one solenoid for all eight legs? That makes complicated hydraulics more attractive with one master cylinder, but then the legs are less independently swappable.

>>25856 >>26037 >Do the middle pairs of legs need to rotate? Yes they do. Under the category of missing the obvious- to go up and down stairs. Or negotiate slopes. The legs need to be able to assume a near-vertical orientation in their operation or side loads will cause damage, like trying to bend your knee in the wrong plane. So as our girl goes up stairs and her body changes orientation to match the slope of the stairs by up to 45 degrees to the horizontal, her legs need to rotate at the hip to be able to operate properly. So we are up to a minimum of 4 actuators per each leg with 3 leg segments. >>26037 >Leg rotation relative to hips have front and back sets of legs on a pivot controlled by a worm drive to limit back driving That would restrict independent movement of the legs. For example in a "hug" with the forelegs they would be at the same level and bang into each other, instead of being at slightly different levels, and our girl couldn't move them up and down separately to rub *or "grope"* anon. If the rear legs can be made to tie knots they will need to be independently moveable. The middle pair of legs may be able to use this for adjusting their angle for slopes and stairs. The problem then is not being able to easily remove one leg for repair. Removable as opposing pairs? Then we would need more types of spares. >>26034 >Batteries and CG This also relates to the placement of the legs. I am thinking of a finished spider-girl with right legs, but she would be able to walk (but not much else) with 4 or 6. So build her with 8 leg mounts and start with 4 and add the rest as time, money or code development permits. With 6 legs you could have the first two leg pairs and the rearmost pair to start. The 2nd and 4th pair could be set in position (like the hydraulic legs of heavy equipment) to allow for elevated use of the front pair. For this we might want the CG to be rearward in the thorax. If we wanted to use the rear legs for web-spinning, we would set the first and 3rd pair legs with the CG more forward in the thorax. We would need to choose which arrangement is more desirable until we have all eight legs.

>>25707 >>26014 > The conclusion I came to was that you’d need at least 5 separate contractile regions, all independently addressable, AND able to contract dY for the snake-bot to be capable of any generalized sort of locomotion. Yes, that's just what the design I described should do. By having the cable winches attached to several disc vertebrae down-body from each winch, the overlap of each set of cables emulates the overlap of muscles in a snake's body. In this way the contraction of each set of cables can be individually controlled to either stand alone or gang together over a distance of several vertebrae, and the size of each "muscle" group (and therefore the number of muscle groups) can be varied on the fly by the controlling code. The operation of the cable winch groups can be done in sequence along the body to emulate the sinuous movement of a snake, and the winch-and-cable sets in the vertical plane for coiling the body can be used to adjust the areas of contact with the surface the body is moving over. To be clear, each vertebra is attached to several winches by cables, and can be acted upon by one or any number of the cables attached to it. The force of each winch is spread over several vertebrae, but several winches acting on each vertebrae combine to increase the force applied. By varying the spacing of the vertebrae discs, the diameter of each vertebrae disc, vs the diameter of the foam body and the resiliency of the foam used for the body (say 8" dia. vertebrae spaced 6" and 12" body dia.), it should be possible for the coils to be as tight as a few inches. With a larger sized object, like anon's body, our lamia should have no problem exerting a firm grip. As with an arachne, anon should probably have a safe word. Something I didn't think of before, real snakes are able to do a twisting motion with at least the forward part of their bodies, so we may also want to copy that. The 18" body size I mentioned before was at the "hip" area before the tapering of the snake body. I should have made that clear. >https://pubmed.ncbi.nlm.nih.gov/32271916/ (source analysis) >https://pubmed.ncbi.nlm.nih.gov/36296136/ (proposed robotic design based on analysis) Thanks, I'll take a look at these when I have a chance. >=== -patch crosslink

>>25838 >find out how many legs of a spider are off the ground at one time as it is moving At most four. There are always at least 4 on the ground at any time in the walking cycle. So each of our spider-girl's legs must be able to support 1/4 of her total weight, plus whatever extra we decide on for contingencies. That could be 1/3 of the total weight (maybe a little more?), in case one leg is disabled, so she could still safely walk to her service area (if the code isn't smart enough to adapt to a broken leg). Or if you are feeling particularly ambitious you might want her strong enough to carry her own weight plus anon's weight (plus excess safety margin) for when she needs to carry anon somewhere after demonstrating her web-spinning. In that case only four legs might be walking so 3 on the ground at all times, a quadruped. Here's a site with a good description of how spider legs work: Leg Uses Hydraulics and Muscle Flex https://asknature.org/strategy/leg-uses-hydraulics-and-muscle-flex/ Here's a paper on soft robotic spider legs cited on the website^. Soft, so nobody is using cables and sprockets: Biomimetic Spider Leg Joints: A Review from Biomechanical Research to Compliant Robotic Actuators (downloadable pdf) https://www.mdpi.com/2218-6581/5/3/15#

Wings: https://www.youtube.com/shorts/Om42OIkeUJk

>>26056 >in case one leg is disabled, so she could still safely walk to her service area (if the code isn't smart enough to adapt to a broken leg). Not sure how difficult it would be with servos w/o some dissassembly but with electrical motors regardless of type you can closely aproximate their % load by how much current they draw relative to max allowed which should not be difficult to track via analog inputs. Some simple algorithm would then calculate how many legs may be in air at any time and how far can legs neighbouring strained limb move to offset its load.

>>25617 There is now a printable version of the robot spider, so it should be much easier to build for anyone who wants a model to develop and test code for the legs: https://www.thingiverse.com/thing:3620761