/robowaifu/ - DIY Robot Wives

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

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Prototypes and failures Robowaifu Technician 09/18/2019 (Wed) 11:51:30 No.418
Post your prototypes and failures.

I'll start with a failed mechanism, may we build upon each others ideas.
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>>16772 Had some printer issues, but I printed the first prototype. Clearances were too small, I need to shrink some parts to make it fit better. These towers or spikes going into the cycloidal pyramid should be screws or bolts anyways. Also, the button to press and the hole needs to be bigger, it's smaller than my pinky right now, but it should be reasonable easy to press. However, I can already tell that the mechanism works as anticipated. I can switch between 10 angles. Added to a leg it might be less than that, since there are obviously constraints of movement. Maybe I'll make a version that takes that more into consideration. I also want add a springiness option. If the button isn't pressed, the joint could still be moved by a human, but it would snap back with a low amount of force.
>>16803 Working on the torso right now, but it's rather difficult. Generally I need to clean a lot of code, making a lot of parts scale together and in the right relation to each other. I will likely go on working on feet instead, so I can print a sized down model of the legs with the feet underneath and some simple connection between the hips. I also made a version of the face with the eyes closer to each other. I take back the term "genderless" which I used before. The chin makes the face clearly female. Also, I realized the eyes are very far away from each other in cute anime characters, like Hoshino Yumemi (Planetarian). So I really need different versions and playing around with other parts. I also want to make a more human-like version soon, but still with bigger eyes.
>>16805 Glad to see you continue to make solid progress. May we bless the world with waifu's in our own ways. Really rooting for your success!
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>>16805 Worked on the chest. Still looks weird, but I think I'm getting somewhere. For the very human look I need better integration of the existing parts, for a more artificial looking version it might not even matter. With the colors in picrel two and three it reminds me of M-66 (aka Sophie). Maybe I can draw some inspiration from there. I was cleaning up the code a little bit otherwise, trying to make parts like the chest scalable compared to other parts. So more variables need to be dependent on each other. Didn't do as much as I could've done, but I'm still on it. Listening to interesting podcasts works quite well to keep me glued to my seat for some hours. >>16808 Thanks, I'm glad about your progress as well. We need to get something to show for soon. It's about time.
>>16823 Made some more progress, but also have some funny fails to post. The chest looks a much better now, imo I really crossed a border there. Getting better at the merging of spheres. I also improved my cycloidal joint connector, so I can increase the size of the button for moving it. Made some other parts smaller, with bigger clearances, since the parts I printed before didn't fit together. I still need to check out the new design. Also cleaning up some code, which is not spectacular or visible, but important. I will upload some more files soon.
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>>16827 It's impressive how far you've come with Solvepsace. Have you considered using Blender for the face though? Organic parts are easier to model in that program. Modeling concepts in mostly flat fast to print parts is a great way to iterate on concepts fast.
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>>16830 Thanks, but this wouldn't be possible in Solvespace. I'm using OpenSCAD. My older parts are in Solvespace, and they might be usable for that at some point. However, I might move them over to OpenSCAD later. Blender does integrate Solvespace now, which makes it more tempting. But the thing about these part is, that they are all in code, and can be changed by altering some variables. You can't do that with sculpting. I don't want to sculpt one face and then the skull based on it, and the next person has to sculpt another face and change the whole head including the skull. I ideally want autogeneration of 3d models of the whole head from pictures (like e.g. from Artbreeder.com) done by a deep learning network. Including the automatic generation of all the bones in the skull based on the changes, and then also the same for the whole body. On top of that, all the forms for molding the parts in silicone rubber. So the body parts can be printed, or molded, or printed with an offset to the molds and then have the silicone skin added to the printed parts that way.
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>>16831 File drop, 42MB compressed to 12MB: https://files.catbox.moe/e7i363.gz Still messy and all over the place. Made some additional updates on the body. The butt is bigger than I intended it to be, it just turned out like that for now. It's because of the current height of the hips. I was mainly working on cleaning up the code recently, but also added new lines. Don't want to finetune the body type right now, looks quite fine anyways.
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>>16836 I slacked of yesterday and went down another rabbit hole. But I'm back. didn't do that much so far, but something: I added the tiddies yesterday or the day before (don't remember). Today: - neck - back and sides - sacrum area The todo list is getting shorter: - nose - ears - arms - finishing the feet, especially toes - hands - better anime-like face - more human-like face variant - shoulder plates (spikes) - optimizations - code cleanup - body types via easy variables and changes - private parts (if not meant to be bought) This is probably still two weak of work, I guess. This is of course only the outer shell, after that the parts need to be separated to be printed and later molded. Printable molds need to be created. Also, the work on the internal parts need to go on. Creating a good TPU pattern for a pleasant and semi-realistic deformation of the body will also be important. Oh, I changed the color of the body in the model. Got a bit of an meat overdose. The more human she looks, the more I prefer her to look like she's wearing a body suit. Also keep some parts colored to show what changed, and it looks a bit more like a suit.
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>>16847 My plan is to use TPU with empty space inside the shell. So it would be squishy. I still need to workout a better way to make it more squishy in different directions at the same time. Currently the part is stiffer along it's elongation, while the circles make it squishy when pressed together. I want better control over this, but I don't think this can be done reasonably within Solvespace, I need to do this in OpenSCAD. The files above are made in Solvespace. It's just a simple test so far. The upper part is the most advanced one. The pattern outside is meant to feel like muscle fibers even if there's some additional material on top, like fabric and silicone. Prototypes and cheaper models might use mainly such printed parts, while more advanced models might use more silicone rubber. The tubes inside could hold additional textiles rolled together to make it harder to squish, or these spaces could be filled with cheaper silicone than the one being used for the skin. The empty space could as well hold air muscles, and tubes for water, other liquids and air. Of course, also cables and sensors.
>>16849 Interesting. Remember you can print molds for silicone and use different stiffnesses of silicone for any desired effect.
>>16852 Yes, I hope to be able to combine both. TPU with hollow spaces should cut down on the amount of silicone rubber needed. Also, I don't want to make very complex molds if I can print it.
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>>16849 I'm still on it, btw. It just turned out to be harder and more time consuming than I thought. The time estimate of three weeks from before isn't realistic, it maybe still rather four or more weeks till I have at least the full body outer shell model. I'm still working on it every day for a few hours, sometimes more sometimes less. I would have even more time, but I'm still drawn to watch some Youtube and also have some anime to watch (and more important things I should do). I redesigned the foot from the scratch (based on the same pattern of female footprints) and working on the details. My Nema 17 motors from China stepped into some problems and will not arrive anytime soon. They were already in the country I live, but there were still some problems with documents and they were send back to China. So I have no real urgency to work on the cycloidal reducer. I'll just start printing simple models soon, mostly in the size of small dolls, just to look on the parts how they look printed and to test the printability in the first place. >>16830 >Have you considered using Blender for the face though? I forgot to mention in >>16831 that my whole approach can most likely be combined with existing models from other programs. At least STL exports, which can be imported into OpenSCAD. So I could take any part from someone else and use it. Though the problem in that case is of course, if I want to do more than a doll but go for animation then I would need to design that internal model for a part which I can't change itself in OpenSCAD. I might even try that at some point, but ideally we would have one system where the parts are completely related to each other. It might generally be more difficult using a STL file while doing the internals in OpenSCAC, since I could remove parts from a file of the face in OpenSCAD and so to speak "look into it" while working on the internal mechanisms.
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>>16855 I got a bit slowed down for various reasons, but I started working on the hands.Picrel is supposed to become a finger and then a hand. I'm not sure yet which will be the best approach, so it's entirely possible that I'll have to restart later, but it looks promising.
>>16872 >it looks promising. Yes, I agree. You're tackling the 2nd-hardest part of exterior human anatomy when you deal with our hands Anon. Godspeed.
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>>16872 I thought again a little bit about how well my approach is suited to the problem. I'm always coming to the conclusion that I would at least need a model of the shell for creating the internal structures anyways. Maybe I'll use another program for some parts later, based on my existing files. But then, those existing files in OpenSCAD format will help me to know where internal structures like bones or space for sensors need to be. For adding certain internal parts it might also be better to print some designs or mold them piece by piece, add the bones, cables and sensors, before molding the outer skin. I'm making generally good progress, as soon as I get myself to start with the work. As soon... that's sometimes the hard part. I found that listening to podcasts which are not to difficult to follow or have aggravating content helps the best to keep me going.
>>16893 You're doing a good job with the modeling of the fingers by the appearance of the shapes Anon.
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>>16893 Only a little bit improvement, once again. Fingers got scaled to be more different. Backside is rounder now. Working on the palm of the hand. Thumb is still missing. >>16897 Thanks. Yeah, sometimes progress is fast, sometimes it's slow and tedious.
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>>16907 Next little hand upgrade. Adding the thumb wasn't easy, but easier than I thought. I think I should move on to the next part and optimize later.
>>16907 >>16945 >sometimes progress is fast, sometimes it's slow and tedious. Ehh, you're doing fine Anon. Add the thumb really helps define things well!
>>16945 Cleaning up some code today and working on the option to cut the main body into pieces fit onto a printer (picrel one). Also for the next step, of designing more of the internal parts. I also added the option of creating a kind of measure stick on the side of the body to show the height of some part. Yesterday I had some more funny error, by changing one little thing, and ended up with some kind of strange skeleton (other picrels).
>>16949 Slicing down the full body into separate element is going forward. Same for making the resulting parts hollow. However, the hollowed part makes my PC sluggish when moving it around to look at it after the alteration, so it's on the border of what can be done comfortably with OpenSCAD. The long term goal is to have a Python program that creates the files of the parts from the main file. So one could change the full body, then run the external script which would create the files for different body parts. Still a lot of work to do.
>>16958 Your progress is impressive! It's pretty amazing how far you've pushed OpenSCAD
>>16946 >>16960 Thanks for the encouragement. In a way it's just going as suspected, though a bit slower overall than it could, since I'm not always working as much as possible on it. In that regard, I found working on anything where I can look at something looking like a female body is really very motivating. Big difference to working on designing mechanical parts. The great thing is, that now if I want to change something I can easily do that. Think of the angle of the bones or some connector between limbs, or the overall body shape. I thought modelling it all in a program where I have to click and drag to do changes would be a lot of work for every change and every test or optimization. It will be much easier and faster doing it in code, where I can move things around by changing some variable and also make things dependent on each other or relative to each other. >>16958 I thought about creating some sized down figurines for testing, but I'm not sure how yet. The whole approach wasn't meant for having a ball joint structure inside. My cycloidal drive isn't ready and the motors are still in China or in the sea. Also, the body is meant to be soft, not really hard shell. Though, I might try out both. Maybe the test figurine will be like a plush toy in TPU without PLA parts inside. I also have the cycloidal holder I designed for something like a poseable lovedoll. We'll see. I also didn't optimize the body itself yet. The crotch area is still too low, I think the whole hip area is to long in north-south direction, and many details all over the body are missing or haven't been worked out completely.
>>16962 I like your hip-socket design approach Anon. Should be quite robust in the face of lots of torques there. >In a way it's just going as suspected, though a bit slower overall than it could, since I'm not always working as much as possible on it. In that regard, Ehh, always double your initial estimates on timeframes needed then double that :^)
>>16968 >always double your initial estimates on timeframes needed Yeah, since you wrote that I had some motivational problems due to heat and related sleeping issues, other things to do, then a hardware problem with my PC, which gladly got resolved without ordering new parts. I'm back on it. Had to think a bit about how to proceed with one challenge anyways.
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First successful Paradox Drive prototype. A brand new gear system that functions just harmonic drives but, without a belt. Feel free to do whatever you'd like aside from patenting it. https://files.catbox.moe/byqa2g.stl https://files.catbox.moe/3vjb21.stl https://files.catbox.moe/dmrv61.stl https://files.catbox.moe/zw1w37.stl https://files.catbox.moe/cmwo9w.stl
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>>17086 >First successful Paradox Drive prototype. Sweet! Remarkable insight, Kiwi. >1.21Gigawatts/10, would drive it again.
>>17086 BTW, I think you'll need to beef up that lateral transfer bar across the center Anon. Shear forces are likely to damage under heavy loads, I think. Cheers.
>>17089 It's made for demonstration, actual versions will be made to withstand robotics use. You do have a great eye for the parts that would need to be altered for real use. Will post a robotics ready version soon, I'd really appreciate it if you'd test that. Thanks for your continued support.
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>>17090 >I'd really appreciate it if you'd test that. Unfortunately, my printer isn't accessible to me atm. I'm sure several other anons here could help then? I myself should be able to as well at some point. >Thanks for your continued support. You're welcome Anon, but in your case it's more than just that. I think very highly of you, yourself. I believe you're an Anon that will very likely combine both a) succeeding at completing a workable humanoid robot that can serve as a nice baseline robowaifu prototype model, and b) doing it in such a way that maintains the dignified DIY, open-sauce, giving spirit that exemplifies the Christian nature of generosity. I hope we anons here will set the pace for the rest of the world in that regard concerning robowaifu development. You've come far already--we all have. But, we're still just in the foothills of this great mountain ahead of us, so stay strong & stay focused. Together, we're all going to make it! :^)
>>16849 Brilliant design approach, structurally-speaking Anon--very birb-like tbh. Birbs are the natural icon of lightweight+strong biostructures we can all learn from ofc. Old Leo Davinci (& literally thousands of other great men) studied birb bone structures thoroughly, and I think we all should too!
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>>16962 So, I'm working a bit on a internal structure that can be printed, be bend, and squished, while also holding tubes and cables. Not sure if it will work out, and how long it will take. We'll see. It's trial and error while listening to some (mostly doomer) stuff on YouTube or podcasts. I try to make it lightweight but also very controllable for how it feels and looks when it bends. That's why I'm not just relying on the patterns in the slicer. I want for example to make structures which are more uneven than a regular infill created by a slicer. This is needed for: - Prototyping - The cheaper variants - Maybe for all variants as a basic structure, to hold sensors, tubes and cables.
>>17110 Very interesting idea. This would also allow us to print soft robot breasts in the future as well. Hard plastic breasts would be fun for a while but I think a transition to realistic breasts would be needed sooner or later and your research could be very useful for it.
>>17110 you're on the verge of metamaterials right here I love it, keep up the work!
>>17110 Amazing looking. Godspeed Anon.
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>>17113 >print soft robot breasts in the future as well Maybe, but I consider breasts to be less of a problem. For example, they don't need to support anything. I wouldn't rule it out, but at least small breast could probably just be molded out of silicone. >>17114 >metamaterials I was looking into origami and something similar as well. This might be an alternative or addon: https://www.youtube.com/watch?v=B-x-1DrabYo and https://www.youtube.com/watch?v=_tKI8BUHFLo
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>>17117 Still on it, but I went with the idea of cutting wholes from the side as in the picture before. I'll try to print it soon. That's gonna be fun, lol. The final version would rather have a shell outside, so it would be easier, but I might try it without. It's supposed to be similar to the version on top of the picture in >>16849, but with additional lateral holes. Though, those would one be on the inside and weakening the structure there, the outside should still be closed (or maybe as an alternative, with very fine holes) and also have a structure that might be palpable through a layer of silicone (and maybe additional power mesh) and give the impression of muscle fibers. The final version might be less ambitious, it's just me exploring the space of possibilities.
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>>17121 I plan trying to print the "metamaterial" tomorrow. It's going to take more than 8h, if it works (which it wont at the first try). I might also print the Paradox Drive from >>17086, if I'll find the time. Worked a bit on the nose today.
>>17144 Looks almost alive. Or like it was made by spiders.
>>17151 i guess if you shape these right you just need rubber bands to piece a body together without having to care about moving or rigid parts actually i think ligaments are really just rubber bands anyway
>>17152 sponge-waifu when
>>17152 just wanted to add to this because its been on my mind all day supposing the joints are elastic then you could literally just make a marionette except have the wires be internal all converging in the torso like a piano, you would only need 2 pairs of perpendicular wires to get full 3d motion for each appendage, i tried to see how difficult it would be to program since your using tension as movement instead of torque but its really not that much different as long as you have something in between to tell you the relative angle, the rest like dimensions, weight and moment of inertia dont change so moving an appendage to a coordinate like (1,1,1) would just require calculating the required horizontal and vertical tension based on the angle, but im ignoring eccentricity for now to keep it simple not sure how this would work when picking up things since this would change the moment of inertia and the coordinates would misalign, although ive picked up things before that i thought were heavy and hit myself on the head, i think lifting is a different kind of process than just normal movement
>>17168 I don't think I can follow your thinking completely. However: - I generally think precise calculation of movements is a bit overrated. We only need to guesstimate it, start moving, and then measure how it's going. Don't forget about the sensors. Then the resulting data could be learned by a neural network to make better assumptions about how the body would need to move, if something changes, like carrying a weight. - The real issue with any primarily spring or "rubber band" based actuation is that the body would be under stress if resting in the wrong position. It would always want to snap back, and require something to hold it in place while the material trying to push it would be under stress. No only for that reason there might be problems with deterioration of the material. - This whole discussion should be moved to >>406 or meta / general engineering if we go on with it.
>>17169 i said rubber bands just as an easy way to have a flexible joint that can move freely, maybe a ball socket would be better, the wires would obviously always be under tension you will need a baseline tension of whatever the bending force due to gravity is so that it doesnt flop around when anything but vertical, movement being done by tightening one side while proportionally slackening the opposite side which gives a net force to the tighter side, both sides still under tension though its just a matter of shifting the balance between left/right and up/down wires and translating it into a 3d coordinate using the dimensions of the appendage to get a predictable model for movement you wouldnt need to actually calculate this in realtime, just once for every angle and tabulate the corresponding tension and displacement, its only when weight changes you need to recalculate since this changes everything, its a simple calculation that cant take more than a second to do all angles but i dont know how you could possibly recalculate if you dont already know the new weight
just one more post until its moved i think i figured out the lifting problem, its actually really simple, you would just increase the baseline tension and lift a little until you see the object lift ( which is the force needed to actually lift it), subtracting this from the starting tension would literally just be the weight of the object, with this you can calculate a new table to move with the object
>>17171 Yeah, it's very interesting. Sounds like one would imagine the tensegrity in the human body. That's probably how we should think about any kind of muscle type actuator, or of the motor is not in the joint but somewhere else while the joint is controlled through wires.
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>>17151 Still looking for good ways to design squishy or flexible parts. It will most likely be open cylinders which thinner and thicker parts. I have to order them in a way that this can be printed without support material.
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>>17195 So, unfortunately, finding a way to design a model for some kind of flexible tissue that can ne FDM printed turned out harder than I thought. However, I think I'm on the right track now. I'll certainly need to do more test prints. I probably won't go with the idea of 'shooting' holes into a design from all sides, but build up a design. It's certainly still ways to go and the approach might fail. We'll see.
>>17195 I would like to talk to you more about this. I might have an application for your 3D printed "metamaterial". One concern, among a few, is the brittleness of the medium: how much compression can it take before it "cracks"? Are these able to tolerate significant levels of deformity?

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