>>34445 >While I'm researching more about bipedal walking I'll be making a companion for SPUD to ride on, so it might be a while before I return to the thread. Looking forward to seeing what all you come up with Mechnomancer! Cheers. :^)

The reciprocating bipedal walking mechanism still needs some work, so I converted it into the walking mechanism for BUD, who is currently quite wiggly because there is only 2 bolts holding the top can on. Even so I might put in active gyroscopic stabilization so SPUD doesn't get jostled all over the place. Created a devoted version of the face mechanism to test out different face proportions/styles. Re-making the hair out of craft foam (and will use markers for shading). Adjusted proportions slightly, including shortening the arms/torso by an inch or two. Giving SPUD some dangly legs while she rides BUD. Servos are in the neko toes so whenever she hears words like "foot" or "toes" she will stretch her toes out lol. Also created a text-based program to create basic animation files (list of servo positions per frame): create 2 poses and the amount of time to motion tween from one to another. Just need to deploy it on SPUD (set default servo positions/limits and apply the servo library) so she can dance in her Christmas attire.

>>34531 This is freakin' cool, Mechnomancer. I hope the face testbed allows you many quick-turnaround iterations now. Dear SPUD's new tootsies a cute! :D

>>34533 New face proportions get. Roughly done, I'll be re-doing it with a more delicate touch (and not have to photoshop in eyebrows) after I do servo tests. And vid of a bit of security for robowaifus. A nifty bit of code if I do say so myself, since examples of the face recognition library can be hinky I whipped up my own. Face markers are generated by scanning a folder for pictures deriving name/classification from the filename. It has to do that every time the program starts up because saving the list of markers into an external text file is a bit of a chore. In future more info can be correlated to faces like contact info, notes or even conversation history based entirely on the detected face (I think I did this in an earlier iteration but I've streamlined the code more). Don't want unknown people talking to your robowaifu and learning of your plans for world domination! |:o) First the program scans for faces using a Haar cascade, then (if present) crops the face out and passes it to the face recognition library which identifies it, and does this for each face detected. (Not sure if there is a performance difference but at least it isn't running the high-overhead version every frame). You can see the examples where I've used Joe Biden, Tim Pool and "unknown" aka Ian Crossland. Of course it detects any face including ones on pictures and screens so if someone prints out a picture of your face or has it on their phone it spoofs the code lol.

>>34537 Lol. Where's the IM Team when you need them? :D > "...and apparently a rogue Ayylmao is currently impersonating a standing US President. This is a crisis situation. < "Your mission -- should you choose to accept it -- is to patch your robowaifu's recognition code to unmask the true identity of the imposter. As usual... <---> Yeah, impressive progress, Anon. I'm hopeful at some point that you'll release blueprints/software/etc for SPUD to the world. Once you think she's progressed enough to be ready for that. But even if no, thanks for sharing your development progression here with us on /robowaifu/ , Mechnomancer. It's been great fun to watch! Cheers. :^) >=== -sp, minor edit -add funposting

>>34540 >release blueprints/software/etc for SPUD to the world. I'm putting together a document for SPUD public release version 1 (internal 2.68), which will be a basic voice-controlled assistant. I want to make sure everything works well enough to give a relatively easy and fun experience for the user. Plus I have no idea what the licensing is for the software so erring on the side of caution by making the code available for free is ideal. The main functionality will be voice commands, but the user won't have to touch the main code library to add them on. He only need create his scripts in the right directory with the proper name with a few other small rules in mind when designing the action. Plus installation instructions down to the terminal commands to install the necessary libraries will be nice. There is probably some way to have this auto-generated with python virtual environments and whatnot but I have no idea how to do that so I'm going all manual. The roadmap: Version 2 has screen-face graphics (modular similar to the voice commands), Version 3 doing the whole personal LLM server thing, and Version 4 controlling a physical body. I got a sneaky idea for Version 4 to help with robotics n00bs which won't cost the user much more than $500 or so. I will probably whip up some voice commands/and other gubbins in between releases to flesh out the functionality, naturally on a special little github just for SPUD.

>>34545 Sounds like a good set of plans, Mechnomancer. Thanks! :^)

>>34545 That's amazing! I might use it in my design, but with credit ofc.

>>34537 The SPUDs rough new face.gif shows how you can get a really good look with simple parts. I wonder how much we could simplify facial muscles and still get something that looked real?

>>34545 i am planning on paywalling some things. the patreon is currently barren. kind of sad people cant donate a little bit. where are those people that were saying theyd help financially. Anyways good luck but $500 is an amount people are only willing to pay if they believe it came from a corporation.Americans hate the government and love corporations. Both are are just man made institutions. The current corporations are just inneficient zombie institutions propped up by cheap debt where employees go to warm a seat and the people in charge use as a an atm. They dont want to innovate they just want their atm machine to keep pushing out money so theyll say what investors want to hear and thats about it.They hate the government but love the law isnt that funny.

>>34587 >use it in my design, but with credit ofc. Well, that is the idea ;) I just have high standards for public release: I want releases to be relatively well-documented and easy to use. >>34637 >le simple Well, I got inspired quite a bit by Wasuarts, who used a unique way of doing the eyes by having eyelashes drawn on the immobile eyes separate from the eyelid (and the eyelid slides over the eyelash/eye combo), so for the rough face .gif there's actually 4 layers: face surface, eyelid, eyelash, eye. After all, you can't get into the uncanny valley if you never approach it :D I'm working on a more realistically proportioned face (attached, I wonder if anyone can identify the waifu lol) with a quick little idea for a flappy mouth that occured while cutting out the paper templates. I might make the eyes a little bigger, idk. Also took SPUD's breastplate off to try out some different ribcage proportions. Feels like her ribcage is too long/tall. She looks quite robot-y underneath, showing how important aesthetic panels are. I need to figure out a cloth-based way to build up her trapezeus because some of the foam I tried (the green bits behind her right shoulder) didn't work out. Of course I could just pad with foam/polyfill once I get the proportions settled and put her back in the morphsuit, with a few alterations to showcase the robot-y arms n shins.

>>34641 i aware youre very technically competent but your aesthetics is where it falls a little flat. for the mechts too. theres just no way to look carboardboard not look bad. if those mechs had a nice polishes metal surface theyd look more impressive. it doesnt have to be metal it can be chrome plated plastic. i did this on image 2 image ai. looks cooler. also imentioned once taking it around the city thatd be funny.

>>34643 That's a bit harsh. I think it looks good, especially for an unfinished/unpaneled prototype. My only complaint is that the hands are a bit big.

>>34545 I would do a CC-BY NC. Basically, anyone can use it, but you have to credit the creator, and anyone else can't market it. https://creativecommons.org/share-your-work/cclicenses/ I would look into the licensing thread, but they're into the MIT License

>>34644 i mostly meant his mechs the paper face does have it charm but it has no mouth. maybe an origami mouth? the hair is also interesting cause the hair can be messy.

Made a few tweaks to the face. Once I get these parts animated with servos SPUD will be quite adorkable. Can even do the Mina squint :D The lower eyelid thing I discovered by accident by sliding the mouth panel up further than it should, so I just put a little black on there. Different mouth expressions can be achieved by having a round mouth and the upper lip cutting it off at different points. So different mouth movement distances give the appearance of a frown/unhappy or smile all with the same graphic.

>>34650 That's great!

>>34650 Neat! Real serendipity IMO about the lower eyelid 'squint'. I bet there's a fairly strong causal-weighting with the jaw motion there IRL. Cheers. :^)

Smol update while I'm in the middle of fiddling with SPUD's new face. Printed a new version of the belly boop: now in 2 parts so it can be offset from its mount on the motor. Main plate now rests on the Ab servos ventral/dorsal rotation axis. Now the ribcage rotates around it perfectly. Delightful :3 Less of a belly boop so much as upper abs now, heh. Bicep pieces are now easier to attach/remove: new version is 2 halves that screw together and are not side dependent (print the same file twice for left/right). Might paint on an orange stripe in the recess. And motor caps now properly press fit onto the ASMC-04B motors. Enough friction to hold anything underneath them in place, but not so much they cannot be removed with a bit of effort. After the face I'll be deploying the basic servo animation program and trying it out. I already calibrated the servos/figured out the joint limits so SPUD should flail around too much :D Just a bit nerve-wracking connecting up power every single time cuz I'm paranoid about short circuits and such.

>>34747 Nice! I love the new plating. Good job on the improved motors.

A very smol update to give a taste of what I'm dealing with: making sg90-size rack and pinion setups with rather tight tolerances so the face moves where it is supposed to. Gone thru quite a few prints to get everything just right, but the final part is currently printing so I should be able to start sticking SPUD's face on soon. Didn't leave enough room for a couple of gears. What exactly are you looking at/end goal? "Poo parts.jpg" is self-explanatory so we talking about "behind le face.jpg". Big orange gear on the front controls eye y axis and it goes side/side with another rack/pinion setup. There's also those two rack/pinion setups on either side for the eyelid and jaw. The big bar on the eyelid rack is so I can manually adjust the eyelid angle once it is glued on so it is level. I gotta print another for the mouth but that is easy.

If the stomach pad was a touch pad you could make it so SPUD can be tickled.

>>34641 >>34650 Great progress. Thanks for keeping things going. Though, maybe consider making the new face bigger in relation to the shoulders. If she has big ears, it's not a reason to make the face small. She would probably look more feminine. You can try with models anyways.

>>34777 If I can find the space, I plan to add a few input buttons via raspi GPIO for heatpats, nose boops and belly boops. A lewd programmer could certainly use the concept for... other inputs ;) >>34778 Advantage of papercraft waifu faces is how quickly one can test things like proportions. Started out with the left, but proportions felt wonky so I moved the face further down the... uh... face. What looks fine on screen can take on a different life once printed off. I'm quite happy with proportions of the right one. Bigger face means more space to cram in linkages and whatnot. I used an ancient laser printer so colors are a little washed out, I'll be sure to print on a nice inkjet once I confirm it all works.

Face mechanism is finally complete (eyelid, flappy mouth and eye mounting plates are in orange), and with the new size of the face squeezing in eyebrow mechanics looks like it might be easier.

I have built a goober.

>>34799 Well that does look nice

>>34780 >proportions Yeah, I think it's better than before. >>34799 Nice. But it would still be great if the standard mouth opening (talking) and blinking would alternatively be possible with solenoids to make it less noisy.

>>34829 A robot with motor noise is like chocolate and peanutbutter. They just go together :D Plus my camera can be weird with audio levels. Solenoids might be quieter but they don't allow precise control. In fact they really only have fully extended/retracted unless you do silliness involving voltage levels, which would be hard to do with just a servo control board. And space inside SPUD's skull is at a premium. I ordered some higher quality microservos with metal gears that are supposedly more quiet. Shipment should arrive sometime next week. Meanwhile I'll have to get around to swapping out SPUD's face (and figure out the eyebrow linkages). Also ordered a shipment of smol Neodymium magnets to see if they are powerful enough to mount the face panels. This way I don't have to constantly rip the paper and hot glue to do face maintenance.

>>34834 I'm aware that solenoids don't allow precise control. My argument was to use them for some fast standard mouth opening. Not sure how you could combine this in one mechanism with servos, though. If both would options in pulling a string it might work. But if you have no space, then it's of course not possible.

>>34799 >>34834 Excellent. What a nice improvement for dear SPUD! Please keep up the great work, Mechnomancer. Cheers. :^)

>>34842 bldc work i guess and are quiet and more convinient. I dont think any of the mouth designs are good enough though because none can form the letter o. Maybe use sticks attached to a universal joint.. 6 of them. well in that case electromagnets might make more sense because theyd take up less space. But pure iron is hard to find. might work for paper as well.

>>34853 arent these things just pure iron, you can demagnatize it by putting it in the oven i think, maybe hit with a hammer to teach it a lesson

>>34854 electromagnets should be pure iron. regular magnets are made out of colbalt and something else, the best ones are the neodyum ones. copper can be pulled by a regular magnet as well when its charged and that requires less emergy however regular magnets are prone to losing the strength over time. the realistic approach of diy iron is mixing iron powder with epoxy and acetone i think bu t i dint want to get stuck on this. theres 12 volts electromagnets that advertise like 25 newtons ofce whicjlh is quiet strong but it has high energy requirements and might be overkill for the face.

>>34856 thats good, i found a table and the iron cobalt alloys have even better permeability than pure iron, like permendur ( 50/50 iron/cobalt ) thats definitely what you want for an electromagnet

>>34859 ok, this chain should be moved to the prototype thread though, ill repost everything after >>34853 to >>28715 so chobitsu can delete them from here, dont know if my script still works

>>34834 There's a warmth to the subtle whirl of gears. You can make your gears quieter by filling them with dielectric grease and mounting with I recommend silicone based grease. You can also use gaskets on your mounting screws to help isolate vibrations from her frame. If you want her facial motion servos to be quiet, I would recommend placing as close to the center of her skull as you can, and gluing felt to the inside will help to reduce noise tremendously.

>>34890 >warmth to the subtle whirl of gears Not so much, if it's a whole humanoid body full of them.

>>34890 Lube is certainly something to try. The majority of the noise is from the plastic gears in the cheap sg90s and not in the frame. I ordered some with metal gears which should reduce noise (and come pre-lubed) but won't arrive until the 17th. Taking apart an sg90 to grease the gears would be quite an experience with all their itsy bitsy little screws and whatnot. >>34894 >body full of grinding gear servos She's actually surprisingly quiet. I re-posted the arm test for ya. The sg90s are loud spazzy beasties. A quick and easy way to reduce gearbox noise is simply to move the motors slowly :D However it doesn't look like I'll get her face swapped out until I at least get those new servos on the 17th. But since she has a built in b̶o̶o̶b̶ boom box to speak with, there should be enough volume to drown out servo noises.

>>34898 >Lube is certainly something to try.

>>34900 Sometimes we make a little funny :D

>>34900 >ywn SPUD starring as Mitsuko Miyazumi... Why even?

>>34898 > I re-posted the arm test for ya. That's surprisingly quiet. Thanks.

Installed new face but haven't gotten around to installing the metal gear servos because it is a delicate operation. Tbh I might just print another face for the metal servos. Just a simple script running at the moment cycling the different servos, but I'll be adding in "expression files" in the form of txt files containing a list of servo positions. Also need to add in those dang eyebrows >_< Also started re-doing hair in a lighter shade of yellow foam, excited to do the back half and for my magnets to arrive to make the different parts modular. So if I want her to wear a hat I just yoink parts off until the hat fits.

>>34960 The new proportions look great, Mechnomancer! Nice work. <---> Please review ( >>34962 ) regarding your missing files. If you can reupload them as a dump onto >>>/meta/ then they should reappear here, last I knew. < update: please hold off on reupload'g files Mechnomancer (but please organize them ahead of time). We ran a little check on this just now, but it failed (cf. >>34968, >>34970, >>34971 ). Robi's working on some kind of tool addon to help rectify this issue. Stay tuned. >=== -add 'update' note -minor edit

>>34960 I'm new here. And I'm incredibly intrigued. I got to see a couple of your videos while lurking before the data loss but I haven't seen anything explaining the whole project. Curious what the final goal is. So far it looks amazing. Cheers!

>>34967 >remedying le great file loss of '24 Will do. >>34975 I got a description in the first post of this thread, but a TLDR would be: a simpler, anime-styled InMoov

Spud slumbers peacefully, happy with her new face and magnetically attached updo/ponytail thing.

>>34982 >Will do. Let's keep our fingers le crossed. :D >>35005 A cute! New face adds a strong dose of character-appeal, Mechnomancer. Looking forward to seeing what else you come up with for dear SPUD. Cheers. :^)

SPUD is dressed up for Christmas, and says her first words with her new face!

>>35082 Nice. Merry Christmas to both of you. That said, the voice doesn't sound very cute.

>>35082 Naicu! That's pretty appealing, Mechnomancer. GG.

>>35086 Maybe it she said an "Ara ara"? ;) Come the new year I'll be looking into training my own ai tts model with piper. Gtts is nice but cloud based (I think) and I'd like to get a local solution. All the pipers model speak too fast for my liking and slowing them down takes a considerable amount of post processing time for spuddys on board computer

>>35094 >Maybe i[f] she said an "Ara ara"? ;) Kek. This. >Araara!! Well, good evening Mr. Motosuwa-san, Miss Persocom-san...

Printed a new sternum plate (bottom right) to give SPUD a bit more of an hourglass appearance. Due to how anatomy works she'll be getting the wide female-looking hips once I put the legs on, probably attached via 3d printed ball joints. Also going to start looking into a few cloth panels (think partial muscle suit) to give some muscle definition in areas such as the abdomen (and maybe the thighs depending how things go). That way when SPUD is wearing her morphsuit she has some pleasant-looking lumps lol

>>35221 > That way when SPUD is wearing her morphsuit she has some pleasant-looking lumps lol Noice! She's already looking better now. GG.