/robowaifu/ - DIY Robot Wives

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

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Open file (363.25 KB 1027x1874 MaidComRef.png)
MaidCom Development Kiwi 03/16/2022 (Wed) 23:30:40 No.15630
Welcome to the /robowaifu/ board's project. Together, we will engineer a modular robot that will serve and provide companionship to their Anon faithfully. See picrel for details on the current design. This robot will begin with a basic maid robot then move forward towards more capable robots with functionality approaching Chii/2B/Dorothy. First goal is to have a meter tall robot which functions as a mobile server bearing an appearance that approximates her owners waifu. This should be completed by December 2022 with further major updates happening yearly until Anons can build a PersoCom class robot with relative ease and affordability.
>>16742 Ok I lied and had social obligations that came up suddenly (another wedding). I'll see what I can put together from my notes and sketches shortly
>>16742 >>16760 It's oke Meta Ronin, I have great faith that you will produce great ideas.
>>16761 >that sunshiney smile A cute!
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Printing and iterating to get cross braces right. Thoughts from the team are welcome.
>>16792 interesting, so we're not applying tensegrity here yet, this is a "support brace". What applications are we hoping to apply this to? How does it hold up against lateral and torsion stresses?
>>16794 These are for legs. They're working pretty well though still need more work. Tensegrity will be used for her chest.
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>>16792 Success, just tying it together is a pain though. Now to make the design easier to implement
>>16807 Top-shelf, Kywy. Perhaps you might have some kind of 'cup on the bottom end, guide-in slot on the top end' sort of approach so Joe Anon can assemble this structure easier? Lovely bit of work, Anon!
>>16809 Thanks Chobitsu, could you share a picture to illustrate your point?
>>16807 How stable is it after assembly?
>>16811 With properly tensioned, they are very stable. The example is a meter tall and can take quite the beating.
>>16817 I meant 1/3 meter tall
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>>16265 Good news! Found an open source rocker bogie mechanism we can use! It's under the Apache 2.0 license so we're safe to use it. https://github.com/nasa-jpl/open-source-rover The current plan is not working out. I keep making legs that are too thin. So I'm thinking we should move forward with Meta Ronin's idea of big reploid boots with her wheels embedded within. Still using RobowaifuDev's design from the knees up. Potentially using balancing camber as well. I do wish progress was faster. I still believe in all of us though.
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>>16828 Excellent news, Kywy. Just be patient, you're doing well. We'll get there by steady application. Just remember we don't have to get things perfect right out of the gate. After all, this is R&D work at this stage. Things will improve in every area in the future. Please stay encouraged, Anon! :^)
>>16829 I'm having creative block (and also a bad case of summeritis) but I haven't abandoned don't worry
>>16832 What helped me to get back to work, was listening to podcasts or music while working. It keeps me from seeking another source of dopamine. Of course, it shouldn't be something that needs too much attention or evokes to much emotions. Or something that makes one to look up something about the topic. Just some people babbling about something, maybe laughing a lot.
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>>16834 Honestly great advice that can benefit anyone. Thanks
>>16835 Sculpting or modelling something like that would be way easier than what I am doing with my very human-like approach. With rollers on the legs and the dress.
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MaidCom development has been resparked with a very solid core. Based on a mix of human and Gardevoir anatomy, my new designs are sturdier, easier to print, and feel very nice in the hand. She can't wear human clothes anymore but, she's turning out to be wonderfully light and easy to work with. Forgot to add extra connections on the prototype but, a super slim waifu is now legitimately close to fruition. Human female anatomy was a terrible pain to engineer around. I hope the team will understand and accept this new direction. This half chest is almost a 10cm cube.
>>16915 >I hope the team will understand and accept this new direction. I'm OK with whatever you decide upon Kywy. You're the project's lead! :^)
>>16918 Thanks, would be nice to have feedback from other team members though. Seems like interest is waining.
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>>16576 After researching the issue, do you think a OnePlus 8 or newer running LineageOS would make a good primary computer for our waifu? Somewhat inexpensive used and widely available and should receive support via LineageOS for a long time. Performance per watt seems unbeatable for our purpose while being lightweight and having all the sensors she would need to communicate with and see her Anon. https://wiki.lineageos.org/devices/instantnoodle/
>>16947 What kind of sensors does it have, which are needed? How would you connect them to anything? That aside: Mobile phones can be opened by the police to listen via microphone through a special way to call them (silent call). Might even work without SIM card. Don't forget emergency calls work without as well! It's worse than the infamous "direct internet connection". The hardware is generally not open, not verifiable and not general enough. General purpose computers might not have hardware spyware inside, electronics for communications certainly has. Also, how does it upgrade the software without internet connection? SBCs can be upgraded via internet, maybe through the home network, or by copying programs after getting the sdcard out and plugged into another computer (which might also not be safe, of course). Unlike mobile phone devices they don't have a GSM/UMTS module on board which can't be controlled by the owner.
>>16963 Likely very good questions all, Anon. However, I think it would be more helpful for us all to have this general discussion on privacy/security/safety with computing (mobile or otherwise) in our security thread, as indicated (>>16964).
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>>16963 >Gov can still hack it The Gov can hack into everything at all times no matter how air gapped you think you are. It's not a point that's particularly worth worrying about. You are under constant surveillance if you're near anything with a cam or mic. >Updates Via internet or USB media, it's still a computer even though it's called a phone. The big advantage aside from the high compute per volume and mass, is the sensors. High quality camera, microphone, accelerometer, and compass to name a few that would be nice for a waifu to have. I've been iterating on waifu blocks. Cubes with mounting holes and a space to put whatever you want. The idea being that each cube could be used with anything to build a very customizable waifu. Right now they're 80cm3 but, that takes a long time to print. Any and all advice and recommendations are appreciated.
>>16988 >>Gov can still hack it >The Gov can hack into everything at all times no matter how air gapped you think you are. No, and also doesn't matter. Mobile devices are not safe. So it's also easier for criminals.
>>16988 >Cubes with mounting holes and a space to put whatever you want. Wrap it in copper EMF cloth, run some cooling, networking, and power into it, and voilĂ ! A Robowaifu Breadbox. :^) >=== -add the single word 'networking'
Edited last time by Chobitsu on 07/24/2022 (Sun) 01:56:13.
>>16990 BTW, I'd suggest you feed all the cabling through a sizable ferrous RF choke ring, neatly wrap a (continuous-mesh) segment of the fabric around a length of the cabling as a single bundle, then loop the entire thing back around the choke. Firmly affix the choke as a 'grommet' of sorts into the copper-clad surface of the block's shell, and you have a handy-dandy leak-proof mobility-friendly Faraday cage for all your sensitive electronics contained therein. ABTW, I'd suggest you invest in using twisted-shielded-pair wiring running out of the breadbox to the various I2C, etc., devices, located in other areas of the robowaifu, and also ensconcing these distal mechatronics, etc., as feasible in a similar way (insofar as at least 'pouching' them in the EMF fabric & using chokes). >=== -add 2nd para
Edited last time by Chobitsu on 07/24/2022 (Sun) 02:23:55.
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>>16963 >That aside: Mobile phones can be opened by the police to listen via microphone through a special way to call them (silent call). You can physically disable the wireless modules by snipping the antenna waveguide and/or removing a few RF components. You can then connect it to a trusted RF device via USB. >General purpose computers might not have hardware spyware inside Some of them do not, most of them have intel ME or AMD PSP, though. >Also, how does it upgrade the software without internet connection Either through trusted RF channel or through loading it from a USB pendrive. >>16988 >The big advantage aside from the high compute per volume and mass, is the sensors. High quality camera, microphone, accelerometer, and compass to name a few that would be nice for a waifu to have Yes. >>16915 Appreciate seeing it, thumbs up anon! >>16828 I like the design of the humanoid in the middle. We could replicate it in a CAD. >>16611 >We'll need to endeavor to adapt a highly-complex set of multi-variate arc forces to hope to achieve approaching nominal, human-locomotion reality. But tbh, what other game is there in town Anon Basically there are three games: ZMP algorithm and its descendants, Boston Dynamics dynamic(tm) gait, and general purpose walking controller learned in reinforcement learning setting. Walking is very hard, I like that most anons choose to start from a wheeled base. To be honest I like their https://halodi.com design and I think we should emulate it where possible. Their arms are superb, state of the art.
>>16600 >Please explain why you're against steppers? I do value your thoughts and I want to learn You are right they have some uses (where the inertia can be hidden/compensated like with or where the mass is not an issue like in medical manipulators, for example), but specific power is too low. As motors I like them and I have used them, but they are not up to the task I envision. ... Also there is no walking robot I have seen where the steppers were used in leg actuators. And that sums it up. High-performance arms are hard as well, and I don't see how you could use a stepper unless you have a very specific design where its mass isn't being lifted by the other motors (including legs). >Feels like a decade since I last researched the HRP-4 platform. Impressive for the time, it still relies on brute force to overcome it ineficient design. While I agree that japanese robots tend to be static and relatively inefficient compared to boston dynamics' singular designs (comprising a class of their own tbh, being built by very bright and degreed engineers passionate about the idea - very hard to compete with), HRP4-C is notably more lightweight than its predecessors. It's a honest attempt at building a real humanoid robots by smart educated asian engineers. >>16604 Yes, low-power dynamic walk is a possibility, though it's nonlinear and hard. With these nonlinear features you have to co-design the whole humanoid mechanism around it so that at any point of the intended functionality space you don't destroy the possibility of the nonlinear phenomena you need working. >>16705 Nice design, feels almost like a mujoco model tbh, we should try implementing it and trying RL controller on it. >>16734 >What rods are recommended by the team RC hobby carbon rods, or glass fiber, or a good wood would fit. Wood is good enough. >>16828 I like rocker-bogie for mobility, though the bearings and associated servos may be too hard to control, removing much of the benefit of a mobile base KISS-wise. Overall, my position is simple: once you can make a semi-decent servo from a hobby BLDC, you have the hardest part of the robot ARM. The rest is design and 3D-printing, or appropriating existing hand designs (e.g. http://inmoov.fr/build-yours/hand-and-forarm-assembly-3d-views/ ). Once you have a robot arm, you have the hardest part of a wheeled mobile robot (the other hard part being power electronics for managing autonomy and power supply though). Thus we need to focus on a servo, or a stepper for that matter (if we are going to build a heavy slow arm[1], which is better than none). Maybe you could create a webpage on neocities.org with a realistic bullet list of features for a given year, and BTC/ETH/XMR addresses for the kind souls to donate. If we made a decent simulation and showed it to enough people, surely some would donate some money for you to buy BLDCs and other gear. 1. PR2 robot (heavy & obsolete, notably uses mechanical gravity compensation in its heavy arms) https://www.clearpathrobotics.com/assets/downloads/pr2/pr2_manual_r321.pdf
>>16999 Keeping a spreadsheet with simple reductionist beancounting metrics like specific power, specific torque for each servo/weird actuator tech you consider as an engineer really helps though. Most alternatives don't cut it even by these simple metrics. And some paper manage to game these metrics (looking at you, DEAs https://journals.sagepub.com/doi/10.1177/1687814020933409 ).
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>>16990 >>16991 All are good ideas! I'll work to make those things easier to integrate into waifublocks. They're a design in flux, I appreciate the contributions. Faraday cages are frankly the only real way to achieve security. I actually would like for her main controller to communicate via CAT5 cabling but, I'm not sure how well that would go over for the layman. >>16995 Thanks for the thumbs up! Designs for her base are still changing constantly. >Design in the middle That's the official design MaidCom is striving towards. From RobowaifuDev's post: >>16132 >Halodi Interesting design, looks like a better version of Pepper. (Picrel) I would like to go with this as it would be the fastest way to a waifu but, then she wouldn't have legs. Legs are very important for things. >>16999 After further thought and experimentation, I have to agree with you. They may be what I know but, they are not ideal for a humanoid robot. I honestly am coming around to DC actuators like HRP-4C uses. They are easier to work with compared to brushless and have a higher power density compared to steppers. Since we're trying to make a waifu that's affordable and can be built by a hobbyist, they're probably the best option. >Rods Thanks for the reply, wood will remain the default for being the cheapest and good enough. Nice to have someone else say they're ok. >Servo You have a very valid point in that we should have a default actuator for our waifu. I'll take a break from working on her body to focus on developing a low cost open source actuator for her to use. I'm thinking a continuous rotation actuator with absolute positioning should be perfect. >Rocker-bogie is too complex Yeah, it does conflict with the spirit of making her as easy to build as possible while retaining womanly charms. >Dedicated MaidCom site Great idea, we could use the publicity and donations would really make the whole thing easier financially. I'm not really familiar with that kind of thing but, I'll check out neocities.
>>16999 >Maybe you could create a webpage on neocities.org with a realistic bullet list of features for a given year, and BTC/ETH/XMR addresses for the kind souls to donate >>17006 >Great idea, we could use the publicity and donations would really make the whole thing easier financially. I'm not really familiar with that kind of thing but, I'll check out neocities. As I've made amply clear by both word & deed over the years here on /robowaifu/, I'm entirely in favor of this idea. Do a reasonably good job with it, and I'll highlight it in our pinned ''Welcome Thread (>>3).
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The first piece of the waifu slice system. A system for producing large scale robotic systems are high speeds with easily printable parts. Based on 12mm3 cubes arranged for easy inter-compatibility. Right now I'm developing a servo that will function within this system. After this servo, I'll be working on the website with Paretto Frontier. Here's the file for the slice in many formats: https://files.catbox.moe/2f3fot.dxf https://files.catbox.moe/32qkxa.stl https://files.catbox.moe/rnamtn.amf https://files.catbox.moe/6pfh2h.rsdoc https://files.catbox.moe/lcfyte.skp https://files.catbox.moe/8q54ud.vdb https://files.catbox.moe/gr82oa.obj https://files.catbox.moe/4k8qn0.mtl https://files.catbox.moe/wic7mz.glb
>>17032 Very cool idea, Kywy!
>>16988 Is this the same as PrintABlok? https://youtu.be/elFOmy9BOu0 >>17032 Great, good to see some progress.
>>17041 Though I like the idea of PrintaBlock, it's completely proprietary. We could not use anything about it if we wanted to. I have no intention of making waifu slices similar or compatible with them. We're using rods and holes that have pressure relief. Technically, you can achieve similar results with both systems, we're going to be completely open though.
>>17044 >PrintaBlock, it's completely proprietary Ah, yeah, I only realized that this might be the case after looking more into it. Too bad.
>>16999 I've been working on a brushless servo system and realized that adding an absolute encoder to premade metal brushless gear motors would be better, easier, and cheaper. RobotShop seems to have the best prices. Thoughts on these for MaidComs servos? I'm developing a new gear system for a brushed servo design for a cheaper alternative. https://www.robotshop.com/en/brushless-dc-gear-motors.html
>>17072 Where will these go? Into the hips?
>>17072 How much are you paying for a brushless motor?
>>17072 I wanted to look if that motor is also available on Aliexpress, since Robotshop seems to only have them in US not in Europe. I really think the system need to be adaptive to some extent, a framework not a rigid selection of parts. If you tell me which one you want to get, I might buy a similar one, so I can try out your design.
>>17109 They won't be used, they're too expensive. >>17187 I've been bashing my head against a wall to produce a cheap, high quality, efficient, small, quiet, and cool running servo that anyone could build quickly with little effort.
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>>17189 The prices for the bldc motors on the mentioned site are 25$(US). If that's too expensive for the little robot you want to build, then you might have the wrong target group in mind. Go for some adults in the developed world first, not teens or thirdworlders. If you are referring to the more expensive flat ones, I think they have sensors and are with higher quality. I think we agreed, that simpleFOC can measure the motor movements well enough even without expensive sensors. Hall sensors in the joints are also not expensive. So the general problem are the gears. I took a bit of a pause from working on my cycloidal drive, because it's more frustrating than working on other things, but I haven't given up. Still waiting for my stepper motors from China for testing some designs I found. I'm using very cheap motors first and then work upwards, this is why we need flexible designs. If you want to build a robot which can be disassembled and repaired reasonably well, then brushed dc motors might also be an option.
>>17189 >I've been bashing my head against a wall to produce a cheap, high quality, efficient, small, quiet, and cool running servo that anyone could build quickly with little effort. Godspeed, Kywy.
>>17190 >The prices for the bldc motors on the mentioned site are 25$(US). If that's too expensive for the little robot you want to build, then you might have the wrong target group in mind. This. We have to accept that robot waifus are gonna cost easily over 3000 dollars. Just a sex doll cost between 1200-1600 dollars and we need them to be able to move around. I think sex dolls could be a good base for a robot waifu.
>>17264 i mentioned it in another thread but if you design it like a marionette then its potentially the cheapest alternative, you could theoretically only need a single motor, all you really need is an autistic watchmaker to design the coupling mechanism for combinations of movements, like in my example moving both parts with just one motor without individually having to move them, it would couple 2 & 3 give 60kn of force to 3 which would go 30/30 to each then decouple 2 from 3 and give another 30kn, its trivial to extend this to extend to any number of combinations if you can handle having a complicated design then all you need is fishing wire and some gears, in theory at least, would be cool to have something powered by a small diesel engine like in those model planes
>>17280 >i mentioned it in another thread but if you design it like a marionette then its potentially the cheapest alternative, you could theoretically only need a single motor, all you really need is an autistic watchmaker to design the coupling mechanism for combinations of movements That's actually a really smart idea. I think I have an idea on how to construct one but I'll need some time to try and prototype it. I think I'll need to get a 3d printer as well since not all parts I need can be bought off-the-shelf. Due to the high precision needed I'll need to get a resin printer to do it. Which isn't too much of an inconvenience since I've always wanted to be able to print table top miniatures.
>>17291 Please draw it for us first. An illustration will help others both understand your idea and, help you develop it into a functional mechanism.
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>>17280 Not sure how this would work with one motor. Are you meaning to imply the use of a mechanical analog to the old drums that automato used to program their actions? Those worked by having cams going up and down grooves on a drum and actuating different parts of the body based on the movements of the cams. Some more advanced automatons would move the drum to alter the behavioral output.

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