/robowaifu/ - DIY Robot Wives

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

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Aoki Lapis model; Robot fairy Robowaifu Technician 09/16/2019 (Mon) 02:51:51 No.266
Height; 15cm
Type; Vocaloid

I'm making it in as natural looking way as I can, this means a bone structure and a similar layout of the electronics and components as with a living humanoid

This is a prototype version that I'm working on, I might change things later and make modifications or adjustments to the design or components
The brain circuit is a MSP430 Ultra-Low Power MCU
eZ430-F2013 Development tool

The target board is removable and works by itself (given that it has electric power to operate)

I could insert more than one potentially and wire them together for more functionality

Its small enough that it fits (its about 2cm wide and 2cm long circuit board)

plugs in with usb and can be programmed with C programming language to control

8 inputs/outputs (which can be further linked to give more inputs/outputs)
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>>266
>> 267
/hover/ BO here, I just found out this board's on here, I see you have the first part of my thread
Stand by, I'll post what I found of the rest of the thread that I archived in the form of pics for now
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There was more to the thread but I'm not sure where those parts are right now.
Here are some 2018 pics I posted before
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I ended up putting the parts for the mini Lapis into a box so I wouldn't lose the parts, its all still there so I can work on it again but I need to figure out some details with it first, like how to properly do the actuators
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The joints for the elbows work, the chest was fixed and I was working on spine segments

There was a vid showing the elbow moving but I don't know what happened to the vid
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I have this reference model in a digital 3d program which shows what she looks like from all angles
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I tested some circuits like seen in >>982 but other than that not much has happened with this project for a while for a number of reasons, but I'll report progress when able
>>979
>/hover/ BO here, I just found out this board's on here, I see you have the first part of my thread
Hi /hover/ welcome back, I'm glad you found us again. Thanks for the archive pics, etc. I'll eventually restore the rest of the thread, this OP was originally just a placeholder (as with all the threads here). I probably have everything but the pdfs and webms if any were in your thread.

BTW, we owe you a debt of gratitude OP. You really established the Fairybot class of robowaifu for everyone, so thanks. These will be very important in the future when this tech really takes off.
>>993
I could use this as my new thread then
I have a bunch of tiny neodymium magnets I could experiment with making electromagnet actuators out of, but ideally it would be better to pair them with nickel-cobalt magnets to make electropermanent magnet actuators
>>1001
Right now there's these two options;
https://hackaday.com/2018/04/17/diy-magnetic-actuator-illustrated-and-demonstrated/
https://hackaday.com/2018/08/25/better-motion-through-electrostatic-actuators/
Static electricity seems to use too high voltage for actuators tho so that might be tricky to get working, which is why magnetic actuators are next in line
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>>985
I just found the video
>>1001
>>1002
Great, sounds good then. I found this link via your first link. Seems interesting and potentially pertinent.

hackaday.com/2017/02/10/a-micro-rc-plane-builder-shares-his-tricks/

>>1004
Great. Please repost any other video files you have, as I have none.
>>1005
shagrug motor seems to use single magnet with a hole in it, with the wire wound directly onto the magnet (and small frame)
I don't have such small magnets with holes in them and trying to saw or drill a neodymium magnet doesn't really work (they're too hard)
It takes a while to wind a coil by hand and it helps to have some kinda support frame
The landing gears seem to use a special wire, haven't looked into that much but its interesting
>>1009
Please keep us updated on your progress when you can /hover/.
>>1011
I was looking at the arm again, there's an issue with it getting stuck, it can be seen near the end of the vid in >>1004
The string gets stuck between the "bones" I thought a solution might be to have the thread got through another insulator tubing on the other side but its tricky to get it to align in the right spot
I've been arduino coding another project and thought of using the MSP for it, but I could get another MSP. Sometimes when working on other projects one finds solutions to the project one was stuck on before.
I'm still thinking about what the best way way is for making an actuator frame without 3d printing it
>>1034
>I thought a solution might be to have the thread got through another insulator tubing on the other side but its tricky to get it to align in the right spot
actually, i believe that probably is the right solution anon. find some thin Teflon tubing, but and adhere a tiny little guide-ring from it, and i bet that will take care of the issue for you.

>MSP
sauce?

>without 3d printing it
no printer yet?
>>1035
> cut and adhere*
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>>1035
I already threaded the thread through red insulator tubing (its from a small red wire)
I'm thinking now that it could maybe be glued in place with superglue or something, need to think more about how to best go about this
>MSP
The MSP430 processor on the dev board seen in >>267 I have access to some of them but only know the location of this one for now, the other ones are seemingly missing I should practice coding more on this one first anyway
>no printer yet?
I don't have access to a 3d printer for now, the city fab lab doesn't seem to have open hours anymore, but bizzare thing is they do have them out in the country in smaller towns, I'm pretty sure all the fab labs have 3d printers
Fab lab works a bit like a library for tools except they're heavy tools so you just use them at the fab lab (these kinda labs are all over the world now)
Also might be kinda tricky to 3d draw the parts properly but I might do that later actually, this one could be more of a prototype
>>1037
Teflon is explicitly designed to stay slippery. You might have better success using it over plastic insulation.

>MSP430
ah got it. i plan to eventually repopulate the threads here, including the electronics learning class one.

>Fab lab
cool. i've never been to one yet tbh. expensive?

>Also might be kinda tricky to 3d draw the parts properly but I might do that later actually
There's the Fusion 360 product anon, and Blender too ofc, whenever you feel inclined to design a reproducible system others can create as well.

Good luck.
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>>1038
This insulation actually works surprisingly well like the video shows >>1004

Booking at a specific time probably costs, but I'm not sure how much and its kinda irrelevant for me right now anyway since I don't have money to spare
But it used to have open hours here for the public on specific days, I'm not sure if they have those open days since the schedule doesn't show it, but it still reads on the front page that they do, I'll have to check on that better later

I actually happened to get lucky the other day and got a bunch of 3d printing filament for free

Funnily when I started out making models for 3d printing I used sketchup
>>1039
>I actually happened to get lucky the other day and got a bunch of 3d printing filament for free
very nice, gratz.

>Funnily when I started out making models for 3d printing I used sketchup
cool, cool. how was it?
>>1042
It worked out fine, I would prefer to use something else for detail work tho
>>1047
Fusion360 can get as detailed as they come. The (((Autodesk))) and (((cloud))) lock-in aren't to my tastes however. I think I'll stick with Ton & Blender.
>>16547 Hik, you mentioned printing a model from Blender but felt you needed better understanding of Blender. Could you please share your print and what you'd like help with in Blender?
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>>16550 Sorry for slow response I've spent some time now getting into blender more, I have used it before like when I was working on importing models to a simple Portal 2 mod I worked on in late 2017, but the interface still gives me some trouble. The MMD models have "bones" which are used for animating the models, to make them be able to change poses, positions of limbs in the correct way, to make them able to move and dance. I'm thinking this could also serve as a sort of a basis for a robowaifu, but the structure is a bit complicated to get into. I also have friends who might like 3d printed figures of their fav MMD models. So that's something I'm looking into. For now I think it might be better to deal with individual parts so that its easier to get into and manage, I think the MMD models might be trouble for someone who's not too familiar with blender. I've been busy watching youtube vids about how to do stuff in blender and I made some simple test pieces and managed to print out some forms, pyramids and cylinders from blender. I configured blender to millimeter settings before getting into the 3d printing extension. Curved parts are kind of complicated to me right now, if I were to make a skull, it would be difficult for me to manipulate it to look like I wish it to. Let alone a pelvis bone.. I found this tune called "Android" featuring Lapis voice; https://www.youtube.com/watch?v=YVcnMC1144o
>>16583 I delete bones on models that will be printed. Blender has given me some issues when modifying models ripped from games when they had their bones. You're well on your way to figuring things out. Quick tip for making curved features, try modeling a low poly version of what you'd like then use the subdivision modifier. https://docs.blender.org/manual/en/latest/modeling/modifiers/generate/subdivision_surface.html
>>16584 Thanks for the link. I downloaded a skeleton model, maybe that will help. I'm considering soft robotics. Maybe there could be tubes or balloon things with fluid in them. Combining that with 3d printed bones for biomimicry. I like the idea of having sort of tendons that transfer displacement to move bones, like actual natural legs work I mean. I'm looking at switchgears (electrical) and differentials. Maybe there's some useful ideas to be gained from studying these. The electrical system of the body works in electrical dc impulses. There's also more to the body than that, there's subtle energy and energy centers. I'm very into this life-like quality so I consider a lot of things most wouldn't. Maybe mineral oil or olive oil will work for breasts, thighs or such.
>>16585 >Soft robotics with an internal skeleton Are your current plans for an independant waifu or, for Lapis to be on a pedestal? I know you're quite firm on her being 15cm but, my engineering advice depends on whether or not her power will be internal or external. >Olive oil fun bags Based in Italian Though mineral oil in silicone if properly cared for would work very well. Mineral oil could also work as a decent working fluid for a hydraulic system, though water is best for small scale low power DIY systems. This tutorial will be relevant to you: https://youtu.be/LBnUZ-AEuWw
>>16587 For starters I'll connect her up externally, but the long term goal is to make her fully autonomous I like the silicone idea I loaded the skeleton model into blender, it will serve as a good reference, I'll have to dig up the MMD models again and see if I can import those into blender too.
>>16592 Gratz Hik! You're on your way with ultimate Blender mastery. Looking forward to your progress, pls be patient w/ yourself and the tool. I personally find the fact this is a true, open-sauce guerrilla project by Ton & Co. that's actually hitting the big-time now a great inspiration for us all! :^) Sauce on skellington BTW?
>>16596 Its from www.artec3d.com I'm not gonna do anything with it other than use it as a reference, that means I'll study the structure of it but otherwise leave it be and instead make my own models inspired by it I'm very interested in biomimetics, I'm looking at how muscle contraction works and how to do joints and such, I might not make the skeleton exactly human, but it will be very inspired by human and animal structures Maybe if one has like a balloon with liquid in it and squeezes it in certain places it may work like a natural muscle..
>>16598 Thanks! >I'm very interested in biomimetics, I'm looking at how muscle contraction works and how to do joints and such, I might not make the skeleton exactly human, but it will be very inspired by human and animal structures Me too. You might have a look at this short clip (and the sauce) for some inspiration for cable-driven 'tendons' that seems to actually account for much of the complexity in real human legs. > (>>16415 >Tendon-driven leg -related) >Maybe if one has like a balloon with liquid in it and squeezes it in certain places it may work like a natural muscle.. Yep. I would recommend you review both of our actuator threads (>>406, >>12810) where, IIRC, this general topic came up numerous times. I think pneumatic air-'muscles' came down as the favored general-consensus. Looking forward to your designs! Cheers.
>>16592 Given that you want her to eventually be autonomous, 15cm is too small for hydraulics/pneumatics. I have used hydraulics and pneumatics in the field and I'm confident I could help you miniaturize things, using DC motors would make things much easier. If you still want to use fluidic power systems I'd strongly recommend making her larger. Micro pneumatics really work best if the subject is connected to a large source of air pressure. Lapis Chan would look cute on a pneumatic base disguised as a balloon.
>>16602 I'm not going to be using pneumatics for actuation. I will do some experiments with using the fluid balloon muscle idea later. Today I 3d printed two upper arm bones that are pretty much identical to the wooden ones I made before. The model is 2mm diameter cylinder, 24mm in length, with 4mm flat areas on two sides on one end of the cylinder, where a 1mm diameter hole is situated about 2mm from the edge of the tip.
>>16617 Excellent. It's exciting to see dear Lapis-chan's resources coming back into action, Hik. Godspeed your experiments! :^)
>>16617 Are you planning on using micro hydraulics then? Nice to see you back to making bones
>>16623 Here's an idea I had, I don't know yet if it is any good or not; >>16629 I have backup plans and if all else fails I'll just use strings/wires/chains and pull or release those with motors to make the actuation work.
Today I imported 7 different Lapis models into blender. I could also use MMD to get them to display more easily as fully textured references and change the poses and such. I also worked on refining the design for the skull and considered various ideas. Later on I may upgrade my 3d printer and print with flexible TPU filament to maybe make skin and fatty parts. First I'm going to print a lot more things out of PLA. I picked up a bone/ivory color filament today and tested printing the upper arm bones out of that material. Progress may be a bit slow, but I'm working on multiple different things.
>>16640 Glad to see you're still making progress! Keep it up and best of luck!
>>16640 >I picked up a bone/ivory color filament today and tested printing the upper arm bones out of that material. Neat! May Lapis fly soon!
I managed to make models in blender and print upper leg bones so I'm showing those off here now. This is the simple stuff, work on the skull continues.. (it is tough to make properly)
>>16862 Good job, Hik. Thanks for the progress report. You might try looking at some facial modelling videos in Blender for Lapis' skull? Cheers.

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