/robowaifu/ - DIY Robot Wives

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

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R&D General Robowaifu Technician 09/10/2019 (Tue) 06:58:26 No.83
This is a thread to discuss smaller waifu building problems, solutions, proposals and questions that don't warrant a thread. Keep it technical. I'll start.

Liquid battery and cooling in one
Having a single "artificial blood" system for liquid cooling and power storage would eliminate the need for a vulnerable solid state battery, eliminate the need for a separate cooling system, and solve the problem of extending those systems to extremities.
I have heard of flow batteries, you'd just need to use a pair of liquids that's safe enough and not too sensitive to changes in temperature.
This one looks like it fits the bill. The downside is that your waifu would essentially be running on herbicide. (though from what I gather, it's in soluble salt form and thus less dangerous than the usual variety)
https://www.seas.harvard.edu/news/2017/02/long-lasting-flow-battery-could-run-for-more-than-decade-with-minimum-upkeep

How close are we to creating artificial muscles? And what's the second best option?
Muscles are perfect at what they do; they're powerful, compact, efficient, they carry their own weight, they aren't dependent on remote parts of the system, they can be controlled precisely, and they can perform many roles depending on their layout alone.
We could grow actual organic muscles for this purpose already but that's just fucking gross, and you'd need a lot of extra bloat to maintain them.
What we need are strands of whatever that can contract using electrical energy. Piezo does the trick at small scales, but would it be enough to match the real thing? There have been attempts, but nothing concrete so far.
What are some examples of technology that one could currently use instead?

High level and low level intelligence emulation
I've noticed a pattern in programs that emulate other computing hardware.
The first emulators that do the job at acceptable speeds are always the ones that use hacks and shortcuts to get the job done.
It comes down to a tradeoff. Analyzing and recompiling or reinterpreting the code itself on a more abstract level will introduce errors, but it is a magnitude of order more efficient than simulating every part of the circuitry down to each cycle. This is why a relatively high level emulator of a 6th gen video game console has close system requirements to a cycle-accurate emulator of the SNES.
Now, I want to present an analogy here. If training neural networks for every damn thing and trying to blindly replicate an organic system is akin to accurately emulating every logic gate in a circuit, what are some shortcuts we could take?
It is commonly repeated that a human brain has immense computing power, but this assumption is based just on the amount of neurons observed, and it's likely that most of them probably have nothing to do with intelligence or consciousness. If we trim those, the estimated computing power would drop to a more reasonable level. In addition, our computers just aren't built for doing things like neural systems do. They're better at some things, and worse at others. If we can do something in a digital way instead of trying to simulate an analog circuit doing the same thing, that's more computing power that we could save, possibly bridging the gap way earlier than we expected to.
The most obvious way to handle this would be doing as many mundane processing and hardware control tasks as possible in an optimized, digital way, and then using a GPU or another kind of circuit altogether to handle the magical "frontal lobe" part, so to speak.
>>18872 Even better! Looking forward to it Anon.
Before someone has the same idea as myself, and maybe even patents it as novel: Animated dolls, possibly sex-enabled companion dolls with any mechanics and electronics inside, or similar devices, could use tattoos on their skin which are only visible under a special light (e.g. UV) or internal LEDs under the skin to indicate ... - a point in their body to use a syringe for adding some internal liquid to their body, e.g. for lubrication or perfumes for later use. This point would be a internal tube or tank. The hole could be closed after use by applying a little bit of silicone to the skin, but there might also be a internal software-controlled mechanism to open the top of the tank before adding the liquid. - a line or more complex pattern to make a cut for internal repairs or replacing parts. This would be to minimize damage to the aesthetics or to avoid to damage important mechanisms. - a hidden plug for a cable to connect to an internal device of the "doll", which can only be reached by cutting the body, probably as a special emergency measure, e.g. to flash some firmware. - any mechanism to help disassemble the body, e.g. by loosing a screw which is not visible from the outside with the skin intact. >>18879 Crosslink: I posted the prototype here >>18887
>>19009 Excellent idea Anon! While I love a good robowaifu shell-seam as much as the next anon, tbh a one-piece, fully-enshrouding 'full bodysuit' skin is actually better (as in; safer, more-maintainable) for both the Master and the robowaifu. Your invisible dye idea is a wonderful enhancement to that basic premise.
Open file (121.05 KB 717x1600 AncientMaidKnight.jpg)
There's much to learn from the past. DaVinci's knight is a fascinating automata that could achieve some interesting motions with one actuator. https://blog.salvius.org/2014/01/a-history-of-robotics-da-vincis.html
>>19340 Excellent point, Anon! Old Italian Dude is one of my heros, actually, and I've been fascinated with his (manifold) works since I first discovered them in boyhood. I'll try to dig into this idea further soon.
blogpost discussing the progress by micro-robotics researchers in creating tiny flying robots, and the importance the study of biomimicry played in their successes. https://reasons.org/explore/blogs/todays-new-reason-to-believe/saving-lives-and-exploring-frontiers-with-bioinspired-tiny-flying-robots
>SimpleFOClibrary - Simple Field Oriented Control (FOC) library >A Cross-Platform FOC implementation for BLDC and Stepper motors based on the Arduino IDE and PlatformIO https://github.com/simplefoc/Arduino-FOC C++ 94.5%. C. 5.5% Like I keep saying, better get to studying C++ if you wanna engineer in the new Robowaifu world, Anon! (>>18749) :^)
Open file (393.93 KB 2000x2000 blind-rivet-5x6mm.jpg)
I bought something called Rivet. I hope I can use these inside bigger rollers as axis, shaft or pivot. Or in some cases to join parts together without needing to add screws and nuts. Gluing one side into a hole might be good enough. In other cases only one direction needs to be constrained.
>>19398 Get the rivet gun that will set these for you also. With these, you can tack together sheets of stuff w/o needing a substrate support at that spot (eg, a wood strut for a screw or nail to drive into. you won't need that).
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Open file (77.52 KB 853x775 Ex.png)
When 3D printing, some designs require really tight tolerances. Due to the nature of different brands of filament and colors of filament behaving slightly differently, it can be ideal to use built in clamps to ensure a tight fit. picrel includes a test to prove effectiveness and the CAD design to help inspire Anons when they make their own.
>>19408 That looks pretty sophisticated, actually. Can you break the ideas out a bit further for the uninitiate, Kiwi? How is the 'built-in clamp' acting in the dynamics of your pic-rel, for instance?
>>19408 Looks like a great idea. Though, I would like to add that this should then be done in PETG, not PLA (bc creep). Also I'd still prefer something relying on metal to make sure this will hold up over time.
It always bothered me that these project threads become like another /meta or /R&D_general. A lot of infos and ideas would be buried there, hidden from anyone not looking into that specific project. /meta has a bit of the same problem, tbh. Not enough crosslinking. Also it's a pain to get into these threads with their meandering discussions. Well, while I was reading through it, I made some notes... From the MaidCom Development thread: (This is not an index of all comments, just entry points or important comments) mobile phones, GSM/UMTS module >>16963 >>16964 Faraday cage >>16991 active dynamic gate >>16604 cross braces (tensegrity) >>16792 HRP-4 platform >>16593 >>16600 DIY BLDC in legged robots >>16591 TMC2209 >>16588 CoolStep >>16588 ESP32 S3 >>16582 KiwiClip system >>16579 Snapdragon >>16578 meshtegrity >>16167 >>16173 >>16181 >>16362 >>16546 >>16565 hexagons >>16528 vinyl sheets >>16528 Kapton tape >>16528 fully laminated paper >>16525 OpenWRT >>16391 ROS, ROS critique >>16442 >>16391 servos explained: https://www.sparkfun.com/servos 3D printed linear actuator >>16308 Natural Language AI In Your Next Project? https://hackaday.com/2022/05/18/natural-language-ai-in-your-next-project-its-easier-than-you-think/ Alpine Linux >>16294 OpenBSD >>16294 regular programs >>16275 taskwarrior >>16275 bellows >>16260 >>16265 rocker bogie >>16265 >>16828 backpack, backpack modules >>16252 >>16212 Masiro labeled >>16247 cable management >>16258 follower swivel-wheels >>16258 loosely-hexagonal floor layout >>16258 MaidCom clipping mechanism >>16227 MaidCom design sketch (meshes, nexus blocks) >>16175 >>16222 meshes nexus points >>16175 motherboards (ATX,mini ITX) >>16216 >>16223 swap out batteries >>16223 tail support >>15802 >>16214 tail with a swivel drive >>15822 portable or mobile server >>15657 >>16214 WebSocket servers >>16194 universal racks/storage volume >>16210 paranoia >>16209 cargo/bar/fridge/hibachi/etc >>16204 >>16199 web interface >>16198 meta editor >>16142 >>16166 forgetting >>16165 Daisy chatbot >>16165 removable drive boots >>16163 (older idea of mine, btw, but not such ones) MaidCom design sketch >>16035 >>16163 >>16108 floating chest >>16108 RobowaifuDev AI sketch >>16132 hexagonal meshes >>16108 prefabbed hexagon mesh material >>16096 honeycomb roll material >>16104 tensegrity >>16057 >>16060 >>16081 early Maidobot plan by Meta Ronin >>16077 vacuum forming plastic sheets >>16035 crush-resistancy >>16025 clothes >>15983 >>16013 RW Foundations concepts >>15983 rod material for the frame >>15983 storage >>15983 >>15972 >>19329 transport >>15972 >>19329 physical capabilities >>15983 >>15972 >>19329 paper shell >>15983 >>16525 breaking (rolling lokomotion) >>15906 wheels with built in motors >>15903 wheeled-leg designs >>15897 transportation >>15901 multi-legged >>15883 DC motor vs alternatives >>15830 >>16593 >>16600 >>17006 Steppers >>16600 component connectors >>15707 rigidized space-frame >>15672 Ascento, reverse-Ascento >>15664 VRoid >>15657 Gardevoir >>16835 >>16915 waifu blocks, cubes with mounting holes >>16988 human-locomotion >>16995 low-power dynamic walk >>16999 DIY BLDC servo >>16999 >>17072 MaidCom Spreadsheat >>17000 Halodi >>16995 https://halodi.com absolute positioning >>17006 waifu slice system >>17032 PrintABlok >>17041 simpleFOC >>16601 >>17190 pricing >>17190 single motor design (marionette) >>17280 >>17301 small diesel engine >>17280 MaidoCom hip and chest plates >>18417 >>18557 concentric cylinders >>18640 These should also be copied to the more specific threads as crosslinks, e.g. servos and motors. Also, there are a lot of search terms for the archive thread, and maybe something to dive into for creating a more general overview, e.g. by creating diagrams on certain topics and options >>4143 - Last but not least this might also be a index for the thread itself, at least helping to get into some sub topics from the start of it.
>>19442 Excellent post Anon, thank you very much. Are you familiar with the Library thread?
>>19443 >Are you familiar with the Library thread? Yes. I was involved in making it.
>>19445 Can you think of some way we can integrate your list into that thread? Seems like that would be a very big boost to it's usefulness to our smol community here tbh.
>>19446 It's here now, anyone with time who wants to help out can copy it over piece by piece, and optionally also use Waifusearch with each search term and post the results. That's what I meant above: >Also, there are a lot of search terms for the archive thread I have to do some other things. Maybe I'll take care of it sometime. But, tbh, exactly for such reasons I plan to make a thread about tasks to help out the board: >>18707 >>18730
>>19445 >>19447 OK. I'll go through your list, and anything that seems like a simple Waifusearch term to use as a post in the Library thread I'll add that in. That may not be all of them, but at first glance is seems like most would work that way. This may take some time, and thanks again. >But, tbh, exactly for such reasons I plan to make a thread about tasks to help out the board: >>18707 >>18730 OK then. Really looking forward to that thread Anon. >=== -prose edit
Edited last time by Chobitsu on 02/02/2023 (Thu) 23:42:52.
Open file (532.41 KB 1920x2560 Belt.jpg)
>>19442 Thanks, this really helpful! Today I tested and found that making gears by gluing timing belts onto 3D prints is possible.
>>19513 Hmm, interesting. But we will have to see how it will hold over time.
>>19513 Interesting. What kind of filament/belt/adhesive did you use please? Also, curious about the mechanism you're designing that use that 'half moon' of teeth?
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Idea: There are already the precursors for cheap, flexible display films that will eventually enable literally rollup (as in ancient scrolls) screens. Since that's the case, and since 2D patterns for clothes-making is a millennias-old artform, what's to stop us from eventually making the outermost 'skin' of our robowaifus literally from backlit screens (ofc her clothes could be too). Would make for some pretty wild-looking dance nights with your waifu, tbh. She could even do the image-wand thing with her arms & legs. You could do some truly amazing looking moving-arts with this stuff! :^) Sorry I didn't find a suitable image for my idea that didn't put me off in one way or other, so have an unrelated gif. >=== -minor edit
Edited last time by Chobitsu on 02/14/2023 (Tue) 20:17:47.
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>>20119 Okay, maybe some might use that idea. At least the more robot oriented guys. It might create additional difficulties and constraints. These might need repair and sensors would need to deal with these additional layers... I had the idea at some point of adding LEDs into the skin to make it light up, but I'm skeptical if that would work. The other idea would be using color like in these matchbox cars which can change color dependent on the temperature (thermochromic paints). Aside from showing some emotion through red cheeks in the face, some rougher anons might like other cheeks to get colorized while doing some kinky stuff involving their hand, a whip or a belt. Related: https://sage-tips.com/most-popular/how-do-matchbox-color-changers-work/ >Thermochromic Powders are thermochromic micro capsules in a powder pigment form. Specially designed for use in non-aqueous based ink systems. Can be used to formulate non aqueous based Flexographic, Screen, Offset, Gravure. and Epoxy Ink formulations. Pigments are available in various colors and activation temperatures. While we're at it, using some very deep black structures as part of their bodies might make them look like 2D waifus in a 3D world.
>>20122 >tsun dere <best dere Great idea about the thermochromic paints Anon! Let's keep that in mind. Not sure why you think the LEDs wouldn't work? Seems like practically a gimme to me. They can be very bright now, and could easily shine out from inside a white or light flesh-colored robowaifu shell. Low-energy, low-heat, easily wired, what's not to love? Cheap too! All in all, they are a much more reasonable choice today for some good Lumipixy shows by our robowaifus, than my idea is. BTW there are even tubular lights that are a lot like glowsticks, but don't wear out like them, and use electricity. Could be some fun effects had with those too, tbh. I like your idea of the 'animu contour speedlines' around our robowaifu's silhouettes, but I hope it can be done w/o needing her shell seams to be either wide or deep. A cute, but they are a pinch-hazard. Maybe the thin, neoprene-like 'bodysuits' can have these visible speedlines embedded into them? (>>19009, >>19016) Thanks for the nice inputs Anon. :^) >yw w/ your lightshow robowaifu one day What a time to be alive! >=== -prose edit
Edited last time by Chobitsu on 02/15/2023 (Wed) 03:18:00.
>>20123 ><best dere But I have so many screenshots of her.
Impregnation of textiles with silicone. Something I brought up long ago, I wanted to do it with power mesh. I think someone already posted this video here which I had on my playlist for quite some time: https://www.youtube.com/watch?v=z_R0gEDZhAI[Embed] - It should work to add some more silicone rubber on top of it, since silicone sticks to each other. For internal "tissue" we might be able to use some TPU, cheaper silicone rubber (hardware store) if it doesn't gas out toxic fumes, and also all kinds of sponge-like material like these fitness or sleeping mats.
>>20327 I think this would also work for silk paper shell designs as well, Anon. Either way would be quite lightweight.
We can build our own custom microphones for the waifus: https://youtu.be/LoQu3XXIayc - parts which are used in expensive microphones, like the capsules used as the center piece, are way cheaper than one would think. Though, the build for a robowaifu ear or some equivalent would obviously need to be different and should also be made waterproof. I still think this is potentially very useful info. Also, the video linked above shows soldering of brass tubes and generally working with brass parts, like making hinges out of brass (tubes), brass mesh for interference shielding and so on, which might be useful in other areas related to general robowaifu R&D. Very exciting, indeed.
>>20775 >I still think this is potentially very useful info. I do too. Thanks Anon, ngl I hadn't even considered this specific type of opensauce components yet.
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>>20327 Silicone impregnated textiles is the future of robot skin in my opinion. I've posted that video then got distracted by 3D printing gearboxes. Silicone textiles over a flexible foam should work very well to mimic soft tissues. Someone needs to start researching this. We could get picrel from it! >>20344 Silk paper? Could you please explain more about this? I looked for it and found videos on making it and when attempting to buy some to do my own tests, I kept being redirected to tissue paper. >>20775 Nice find, brass hinges are good and the shielding for wires is often overlooked.
'Parallel-Spherical' joint mechanism, from Skyentific. Might be useful for torso actuation (interesting design, but it's a bit large for our general joint needs). It has the notable-benefit of a hollow 'core'. Uses 3 inexpensive steppers. yt-dlp https://www.youtube.com/watch?v=mQiPAUH1Vyc
>>20787 >Silk paper? Could you please explain more about this? What I'm referring to definitely isn't tissue paper Anon. Rather, its a very high-quality paper (arguably the best paper). Its generally used for fancy placards, gold-embossed invitations, etc. Since it literally has silk embedded into it, the feel to the touch is luxurious. This would be a very pleasing material to use for a papercraft-shelled robowaifu (which will be the basic 'everymans' version (read: utter lowest-cost) of robowaifus made throughout the world). That's all. Heres a link to get you started. AFAICT, this is the type I meant (or very nearly so): https://www.etsy.com/listing/1116340567/japanese-silk-paper-63x63-fsc-20-color >=== -prose edit
Edited last time by Chobitsu on 02/26/2023 (Sun) 19:13:40.
Interesting concept for sensing angular rotation and speed using 3 capacitive sensors and a floating conductor. https://news.mit.edu/2023/3d-printing-revolving-devices-sensors-0316 Here's how to use Arduinos for easy capacitive sensor experimentation and learning. https://www.instructables.com/Capacitive-Sensing-for-Dummies/
>>21494 Thanks, that's very interesting. Though, I think I recall that these capacitive sensors break down over time. I think this was once mentioned in one of the videos from Will Cogley.
I once had similar ideas, I'm not sure I using cameras and light sensors is reliable enough over time. >FiberGrid is an inexpensive open source 3D printed optical sensor framework for robotics. If you don't want to spend years learning about electronics, how to interface sensors to microcontrollers and DSP but you are ready to jump into action, this project is for you! Forget Raspberry PI, arduino, PICs and other MCUs. There is an easier and much cheaper way to add sensors to your projects. Add hundreds of 3D printed mechanical ANALOG sensors for the price of cheap plastic optic fiber. The goal of this project is to take electronics out of the picture and allow everyone around the world to build sophisticated devices. You can build robots, interactive art, home security systems, arcade machines, computer and music keyboards, prosthesis, VR gloves and much more! https://hackaday.io/project/167317-fibergrid https://github.com/rand3289/FiberGrid
>>22032 Very cool ideas, Anon! :^)
I wanted to ask. Is a clockwork able to be used as a power source for a robot?
>>22127 I think it could be used for the blood idea in op as a heart. You can have a second ribbon spring as back up to extend it's timeframe of operation.
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Printing at 100mm/s vs 50mm/s. Fuzzy skin may not have the perfect look but, it feels nice and has a good give. Really fun to squeeze that hip.
Seems we need a new thread now, OP
>>22141 It seems the OP may be out ATM. If anyone else would like to step up and create R&D General #2 please do so. This was always one of my favorite threads. Do a great one, Anon! :^)
>>22152 The right way to do that would be going through the thread and make a list of topics that came up. Then put this into the new tread. I wanted to write that I'm on a tablet right now, so I can't do it right now. Then I remembered that I might be able to access some PC. So I might look into it, but it's a big call to do it correctly. Not sure about the pics. The old one's are too good to give up. Maybe adding another one as the first one?
>>22128 I have been giving it some thought. Does anyone know of a material a cantracts and retracts when jolted that is resistang to liquid? Because if so we can make a sort of heart that pumps coolant using a nechanical pace maker
>>22284 Why not using a peristaltic pump? Except for the problem that the tube might break at some point.
Some very creative gears: https://youtu.be/0ZPo3HxR0KI
>>22178 Sorry, but I can't work on this. Maybe in two or three weeks.
>>22178 >>22288 That's really good advice Noidodev, it would make for a really good new OP. Maybe the original OP will return in the meantime, but if not, then by all means give it a shot if you're willing! Cheers. :^)
>>22286 That might work. My goal would be making a non electric one. I would need to figure a way to make a clock work movement with enough torque to move the pump and install the self winding system used on rolex for when you move your watch so that it self winds every time robot chan moves.
New thread New thread New thread (>>24152) (>>24152) (>>24152) (>>24152) (>>24152) New thread New thread New thread
>>22032 >fibergrid That has got to be one of the most brilliant ideas ever. You could use a cheap ESP32 CAM Camera Module Kit. They sell them with cameras on them already for $10 USD. Then you have up to 1622×1200 sensor channels. WOW! what a great idea. Do them in a sort of X'Y' grid and then you have what part of a finger and how far up. You could use this for position sensors also. Have a rotating bump or wheel press on an array of fibers. So with a little work you could have every single touch sensor and position sensor in one $10 camera. Some ideas are so good they are just...stupendous and this is one.

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