>>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.

>>35082 Very cute picture! I think for the grinding sound; you can try some sort of foam for sound absorption.

>>35221 Great, but when will you make a thin circular layer with little holes for the centers of her boobs?! This should be extremely simple and would improve her looks a lot.

>>35230 A problem I've discovered is the raspberry pi analog audio circuit (3.5mm headphone jack) picks up noise from the servos, so its actually a bit louder than it should be. Servo setup for the face is pretty tight, so I might have to redesign the whole thing to fit some foam padding between the servo mounts and the chassis. Maybe I could also look into stealing the audio off the hdmi out, but if anyone else has suggestions I'm open to it. >>35241 I am considering making some "public boobs" for her, which will be covering up the speakers. I also got some high-power magnets which I have in her ponytail (should make a vid of that at some point) so it is possible to make "hotswap boobies" kek. Ugh SPUD's hair is a mess I gotta do something about that (only taped together after all lol). Thinking of robo-boobies and faces got me thinking of Black Magic M-66 so thanks for that :P

>>35256 >"Momma! That robot has boobas just like you do!" >"I know, Johnny. Hush! Don't look at the perverted man..." :DD You can't mek an omellete w/o breaking a few eggs, bro. :^) >Ugh SPUD's hair is a mess I gotta do something about that (only taped together after all lol). Ehh, I like it. I hope you solve the audio issues, Mechnomancer. Cheers. :^)

I think I have just discovered the format by which I'll be doing a public release of SPUD's code. The Mimi Sentry even has the left side of her face covered up which is perfect for SPUD's old screen! Plus a majority of the expressions are pngs so that makes it even easier! Probably just a 4 foot 3d printed articulated figure with the screen face reacting to emotional keywords along with modular voice commands. Something to monkey around with when I don't feel like building anything else.

>>35413 >I think I have just discovered the format by which I'll be doing a public release of SPUD's code. LOL. Well it passes the retard-filter test. I can't make heads or tails of it, bro! :D >Something to monkey around with when I don't feel like building anything else. That actually does sound pretty intredasting, Mechnomancer. Good luck with this effort. Cheers. :^)

>>35422 > I can't make heads or tails of it, bro I figure the SPUDs first public release will be an 48" articulated figure in the shape of the Mimi Sentry -someone made a waifu version of a sentry turret from TF2- using SPUD's old screenface code. Will have screenface expressions and modular voice commands and I'll try to find some bleeps and bloops for sound... maybe make some stop-motion videos with the 48" figure, convert it into a nerf-shooting turret, idk. Been working on making the mesh suitable for 3d printing... the chest is probably going to be my longest print ever (I separated the legs into segments cuz they won't fit on my 30cm printer). Also going over a proportion check for SPUD so I can start trying to make the squishy thighs. Just need to resurrect that model of the inmoov ball joint and make the hip mounting pieces, including a mounting plate on her bum so she can sit flat on surfaces (SPUD is currently bolted to her stand lol)

>>35448 At 4 ft, that models pieces look like they should fit onto a small printer comfortably. If you'd be willing to send a copy to me, I'd like to adjust the parts to fit onto a 180mm^2 build plate.

>>35448 >using SPUD's old screenface code. OK, heh it's all coming together now! :D >proportions They all look pretty waifu-tier, but the head. IMO it's too wide. Regardless, really glad to see you focusing thought on dear SPUD's ratio & proportions! GG. >>35456 >I'd like to adjust the parts to fit onto a 180mm^2 build plate. This. While during this prototyping phase it's not quite so important, if we're going to open this up for everyman (a personal agenda of mine) then we need to focus on kit manufacture using the smolest, cheapest, lowend-est systems available. This will help to ensure the broadest possible reach of robowaifus to men around the world.

>>35456 >>35470 >fit onto smol build plate That's why 9 times outta 10 I make sure it fits comfortably on my Ender 3 (220x220x250) instead of my Ender 3 max neo (300x300x320). But tbh the mimi sentry feels more like a lot of it could be done with papercraft. idk either way I ordered 4kg of filament to start printing a mimi. >>35470 >wide head its the chobit ears. A bit bigger than a standard chobit as they hold actual hardware :D

>>35471 >wide head >its the chobit ears. A bit bigger than a standard chobit as they hold actual hardware :D Have you ever considered putting her camera in a decorative choker? It would center her eye for an equal field of view, preserve her symmetrical face- no one-eyed look, and do away with the sorry, but to me ugly chobit 'ears'. Done well with stones around the lens, it might not even be obvious it was a camera. Before I decided on stereoscopic vision for my waifu I was planning to do this, since the ezrobot/synthiam supports only one camera.

>>35472 I have 3 reasons for chobit ears/mono camera. 1) They're iconic 2) A neck camera screams "input 6" 2) I do fine without stereoscopic vision so I figure SPUD will, too.

>>35473 >1) They're iconic meh. To me the look always screams 'milkmaid'. >2) A neck camera screams "input 6" LOL. Hadn't seen that before, that's definitely done wrong. >3) I do fine without stereoscopic vision so I figure SPUD will, too. Yup, many robots do, and I may find out what that's like- For Christmas I got a floater(s) in one eye. Time will tell. Forgot to mention her hair would never be in the way, but...

>>35473 >that game Heh, may as well pay the Hollyjew at that point. Ehh, at least they're more honest than M3GAN about it all. :^) <insert: 3-whites Miku-chan You're mine, Anon...FOREVEEERR>

>>35448 I've been on the fence on whether to share this but whatever. I've given up on the idea of making money from this ff... You want the hip to have two degrees of freedom not one, so it should be a spherical joint. Here are the files for the spherical joint https://www.thingiverse.com/thing:4857920 I figure I'd attach 3 sticks to the surface to attach it but i'm kind of struggling tbh. I hope my sacrifice will make people want to do a little more effort and idk maybe download nvidia issac and read some tutorials about it cause we could do a lot more as far as ai if we can get a model into the simulator. I'm scaling down the scope of this thing personally as a single person effort.

>>35486 mujoco is lightweight too. Its just a pain to code but you can tell chagpt to code it for you.i made a plugin for blender to mujoco with chatgpt before o1 i think. its not perfect but it'll get the rotation and location of the 3d model right. i overlooked it because it couldnt make two gears rotate but realky its not meant to be used that way now that i think about it. Like say you know the torque of the hip. Youd use that value without actually simulating the gears i think... i tried to collaborate with hannah dev but he doesnt want to. anyways here it is. https://github.com/HannahAnimatronic/mujoco_blender_plugin

Nicked a balljoint from inMoov and modified it into a modular hip joint. Right leg is installed and tested while the left leg is waiting on the final mounting piece. Then I can start work on the thigh padding :3 Might wait for the next shipment of filament to arrive before tackling the shin panels, idk. Also started work on the hotswap boobs via magnets, not yet ready for public display yet (cuz SPUD currently has only 1 boob on lol).

>>35514 If you'd like to use any of the boobas I posted in the MaidCom thread today, I'll share them with you. Just tell me which one and your preferred file format. I'll share it through catbox or litterbox, your choice.

>>35514 Looking forward to seeing how you and others here solve the hip joints. IMO, this is the most-pressing physical design problem for us all r/n (cf. >>35338 ). Good luck, Mechnomancer! Cheers. :^)

>>35514 the strength of the motor will be determined by the following formula. torque of the hip in nm=weight of the robot in kg* length of the leg in meters*sin(45) list me in the list of constributors asshole https://m.youtube.com/watch?v=d0x2Y1AwYz0&list=PLgXTfFM40HqEMwg9rJ078INRYWDCG66B3&index=2&t=621s&pp=iAQB

>>35520 Thank you for the offer, but I'm trying to avoid having SPUD's booba be NSFW (it might be a little contradictory lol). Already got one printed, sanded, speaker installed and magnets attached. When the other one is finished and installed I'll post pics/vidya to get the full effect. Tempted to uncover the speakers RGB LED to give SPUD a lightshow in her ribcage :D >>35531 I never said I used inmoov's *shoulder* joint for SPUD's hips. Check out Inmoovs neck: I played with it a while ago >>30525 >>35475 >screams 'milkmaid'. Well, I hear some folks like cowgirls :D >>35526 I might have to fiddle with the hip tolerances, because it's very easy to dislocate the hips when grabbing from the foot as opposed to right next to the socket (due to leverage and all that), but since there is some hollow spacing in the print I could just put in a bungee cord. Idk have to faff around a bit.

>>35537 The hips serve to handle an incredibly-broad range of dynamics/loads in humans. Women especially. I don't think we have to 1/1 match that in our attempts at biomimicry, but if we can do (pulling this out of my ar*se) maybe 80% we can probably pull off pretty convincing humanoid gaits & other behaviors sufficient to produce pleasing robowaifus. By 'pleasing' I also mean ones that can accomodate the womanly form in the hips volume available, yet still manage to be the literal nexus of (in effect) all the kinematic moments of a humanoid skellington in motion. >Tempted to uncover the speakers RGB LED to give SPUD a lightshow in her ribcage :D DOOEET!111 :DD >=== -add funpost

>>35539 >Robot hips I might revisit bipedal robot locomotion in future, but its going to cost at least $500 in ASMC servos. Idk if it would be smarter to make a janky SPOT/robot dog clone for promotional first (I could get a small raspi robot dog kit and just connected to some ASMCs). At least I have a majority of the bits I'll need for either of those projects already designed. Could make SPUD into a SPOT centaur lmao. Now that I think about it, that would be a very smart idea...

>>35540 >Now that I think about it, that would be a very smart idea... Yeah, it could be. We've talked about the centaur concept as an interim approach (cf. >>2983, et al). The many little robokits available now probably make sense for prototyping IMO. Good luck! :^)

Magnetic boobs are installed, haven't mounted the speakers yet because some of the wires broke and I need to re-solder them. Took about a half hour of sanding to get them looking kinda smooth.

>>35563 Nice! They've really got a good-looking booba form, Mechnomancer. GG.

>>35563 It's looking more and more complete, nice!

Looking into using a waifu voice changer to create a training dataset for a Piper TTS model, so far I found 2 voices that I liked. To make the training dataset I'd have to record like 100+ sentences which would take about 2 hours. I could probably find a way to semi-automate some of dataset generation between voices, but each voice changer model has its own quirks... "cross the road" is a bit more ara ara while "goat company" is more owo... which one do you think suits SPUD more? Personally I'd like something more in the middle but that seems hard to find...

>>35588 The right one fits your design better. Though I am curious, will your software be local or rely on external services?

>>35591 Public release 1.0 will be able to run entirely on a raspberry pi: - vosk, a 50mb speech recognition model - Piper TTS: a low-latency TTS model streamlined for use on the Raspberry Pi. - Local code to integrate them together - easily mod-able voice commands/expressions: just name your files properly in the corr0ect directories to add more. Public release 2.0 will have the toolkit (script & setup instructions) to set up your own GPT4all (local LLM) server on a standard gaming computer and communicate to the avatar (aka robowaifu) over home wifi. I've started the journey of printing my mimi sentry. It will take quite a while though so I hesitate to post pics... maybe I should make a separate bread? idk

>>35598 Awesome! It sounds a lot like what I was recommended in my inexpensive AI thread. Great minds think alike.

>>35598 I would say start a separate thread, but later when you made a significant amount of progress.

>>35588 >those mp3s Kek. Araara, ofc. :D If you ever make a headpat daughteru, then I'd say the bleating one. :^) Nice work, Mechnomancer. I hope you find a good & flexible automation approach to the dataset generation. Such simple little tools can significantly-improve your day, once you get them sorted. Cheers. >>35598 >Public release 1.0 will be able to run entirely on a raspberry pi: This. >maybe I should make a separate bread? idk I'd say that's fine, if you really plan to diverge it notably from dear SPUD to the point its hardly related thereafter. Otherwise, I'd suggest you keep it ITT, due to our 'thread budget' here. Your choice, mate.

>>35601 >new bread? we got a budget bro Well Mimi Turret waifu gonna be using some old SPUD code cleaned up for public release so I don't think she will be too much of a departure. She gonna be a non-powered 4 foot action figure with a screen face and rotating light... maybe afterwards I'll mod in a working AI nerf turret. Been printing mimi parts nonstop since Friday and don't even have a single complete leg yet. Doesn't help I'm down one printer since the other keeps being 3 degrees below target temperature triggering safety shutdowns. Quickly threw together some squishy thighs as material testing. I'll have to make new ones that are symmetrical (make an actual pattern instead of just eyeballing it) and pull in the hip ball joints a bit, even so it really helps give SPUD a feminine figure. Will probably look really good when I get the morphsuit on her :3 Uh also installed the rgboobies but they don't show up much so I gotta move 'em further into the ribcage. Also got an ambient head movement script going but I haven't taken any vids of that.

SPUD make-a the joke-a

>>35617 Wow! those thighs/hips really add a lot to the femine look of SPUD along with her cute booba. Good luck with the hips, Mechnomancer. >>35643 Very nice. All the parts are coming together, Anon. After seeing this, I kind of think that's the best voice for SPUD after all. Cheers.

>>35661 >best voice for SPUD after all I hope things don't get hinky when I try to make my own speech model. To train the model you need a .wav file and a transcript of the .wav file, so technically I could use promotional voice lines (like her little pun) as part of the training data. I gotta increase the volume of the speech files, that and use a bluetooth speaker until (and if) I can figure out how to mitigate the emf noise (gonna try a ground-loop noise isolator). Because its not just motor noise it picks up in the 3.5mm jack, but *every time I move the mouse*. There's some phreaking going on. In other news the first milestone of the Mimisentry is approaching (a leg) so I'll be sure to post that when its ready.

>>35669 >To train the model you need a .wav file and a transcript of the .wav file, so technically I could use promotional voice lines (like her little pun) as part of the training data. One of our based OG geniuses created WaifuSynth (cf. >>5698, et al). I'd recommend you research this remarkable tool before spending too much time rolling a solution. Could be it will help you get far down the road towards your goals in this arena. Good luck! :^)

>>35669 Kokoro can blend voices >>35678, though apparently only from it's own voice banks. Would be great if we could add more. Anyways, the current voices are good enough for robowaifus.

>>35669 >I gotta increase the volume of the speech files, that and use a bluetooth speaker until (and if) I can figure out how to mitigate the emf noise (gonna try a ground-loop noise isolator). From my layman's perspective, a good starting point would be to increase EMI shielding. Have you tried using shielded cables for audio?

>>35703 >shielded cables for audio? I'm not just picking up motor noise from the servos but getting little bleeps and burbles literally every time I move the mouse, it seems like an issue with the soundcard picking up emf from the graphics. Either a very goofy speaker system (doubtful) or the pi 4 doesn't have good 3.5mm... from what my research indicates the 3.5mm is something like a gpio right off the processor so its pretty primitive (relatively speaking). I got a variety of bluetooth speakers to use, and they don't seem to pick up any noise.

>>35705 It might be tedious, but you could do faraday cages around the circuit boards. Maybe look into HVAC tape / foil tape for the wires.

>>35669 You need shielded twisted pair cables. Alternatively you can use a fiber optic digital cable but that is assuming the noice isn't coming from the circuit board itself.

>>35717 >assuming the noice isn't coming from the circuit board itself. Yeah pretty sure the PI just has a noisy 3.5mm jack, especially when you put volume on max. I could use an HDMI to aux extractor dongle but bluetooth will be less of a wiring headache. Got the majority of a mimi sentry leg printed (need to print the kneecap and heel). Joints are nice and tight but I had to make an entirely new ball instead of using the inmoov one. I get the other leg printed and she'll probably even be able to stand by herself. I'll be releasing the files on thingiverse once I got a full mimi printed.

>>35726 Seems like it's coming along, Mechnomancer. Looks like you're going for the whole 'military mecha droid' thing here. I get the appeal. I've personally chosen to reject that appeal, and the concomitant money that certain (((totally-have-your-best-interests-at-heart-goyim))) sources put on offer. :^)

>>35727 It be a waifu version of a turret from TF2 that is a bit of an internet meme. I might make some (nonpublic) mods to get it to fire a nerf gun but I figure a recognizable meme robot would be a good vehicle to release SPUD screencode and act as a funnel towards SPUD (the cutting edge of mah robowaifu technology). https://youtu.be/Joi7C2kxRbA https://youtu.be/RFyfUo-TdCI

>>35729 I see. I always like the Sniper from TF2. Probably my best alignment. Your work so far certainly seems to be on-model.

Yup a ground loop noise isolator did the trick. They're a very interesting little gadget. Now just have to make sure the sound file volume is high enuff. Also going to look into deploying arm movement while SPUD does her voicelines so she can a speak-a lika da italiano mamma mia bippity boopity.

>>35742 Oh great! I'm glad you solved it with such an inexpensive & smol solution, Mechnomancer. GG.

Exploring a few different voice models, found one that isn't so uwu and did a (hardcoded) arm movement while speachifying. The good thing about training a piper TTS model is that you pair a transcription of the audio sample in a simple .txt file. So if I just make a bunch of promotional videos I'll hit that 100 sample minimum in no time.

>>35908 Lol. >secondary, social, verbal-emphasis, body-language animations... <"Mama mia! We makeda gesturesa!" Yes, this is a complex psychological domain IMO. Fortunately, we have umpteen zillion realworld example videos for contexts, and this area of investigation should be even easier than the simple tasks that basic LLM research tackles. <---> GG, Mechnomancer. SPUD's looking really good! Cheers. :^) >=== -fmt, prose edit

I finally bit the bullet and added eyebrows to SPUD... just by gluing some servos onto her forehead. I'll try to figure out a less orky way to get the eyebrows on, but sometimes groucho eyebrows can be cute on a waifu :3 Audio is better because I'm using a bluetooth speaker, however when that plays audio the speaker is silent for a second before it is audible, which is easily compensated for by simply having a second of low volume noise at the beginning of each robowaifu speech file.

>>35930 Lel. >eyebrows <Needs moar cigar! And don't forget the funny glasses...

First outfit for SPUD!. I need a voice-activated program to help me pose SPUD during the fitting process. And turns out the standard size servos (rated for 70kg/cm) suck up a lot of power when active, so I might put in a circuit to cut power to them when they're not active.

>>35958 Naicu. Now she can go out in public like a proper lady. :^) >I need a voice-activated program to help me pose SPUD during the fitting process. Totally makes sense.

>>35958 Did you pluck that off a Halloween scarecrow decoration ? lol

>>35958 If you're looking for more cheap outfits, AliExpress has some great cheap cosplay dresses

>>35930 Neat! And I don't think gluing is bad, a lot of commercial/professional products use glue.

>>35967 >Did you pluck that off a Halloween scarecrow decoration ? Cuz she gonna make a corny joke :D

>>35983 Heh. At this rate, I predict dear SPUD will be very popular with children & their mothers at the tri-county fairs, Anon. You should collect up a bunch of these. Scarecrow motif is basically funny by default IMO.

Mimi sentry legs are complete and a quick mockup for the doggo legs (using an actual mini robo-doggo)

>>35994 >Mimi sentry Really a design well-suited to 3D-printing by the looks of things. >SPUDtaur Very creative! I hope to see this one day soon, Mechnomancer. Cheers. :^)

>>35994 Speaking of TF2...

I finally got SPUD working with a GravaStar Mars speaker (don't worry I bought it open box & on clearance) and 3d printed a low-poly mockup for the mini-doog. For the scaled-up version I might tweak the leg length, and if that doesn't work I'll have to deal with SPUD being a midget walking around and only standing at human height on back feet. To counterbalance the weight of the torso I will install a 900W UPS battery backup, which will also power the robot that way I don't have to design my own power system for switching between wall plugs and onboard power. Might have to redesign the spine to keep the torso level while walking.

>>35994 Asthetically, I like the sentry legs. Reminds me of Marina. https://www.youtube.com/watch?v=K4VxOr31kzI Also, that concept looks like something I'd drawn a while back where I effectively planted a robot torso on top of one of those quad bots. Even if you didn't use my picture as a reference, it's cool to see my drawing manifest in 3-D space.

>>35994 >>36044 >>36049 I just came up with an idea, with an old, long dress, you can preserve an illusion of a humanoid form. However, you might need some stilts in between the robot dog and the torso.

>>36044 That speaker is sounding really clear now. GG. >>36054 >inb4 /monster/ , pls. :D Good thinking. You might check the MaidCom #1 thread, GreerTech. ( >>15630 )

SPUD now has shins, meaning the majority of the 3d printing for her is (hopefully) complete.

>>36122 Stylish!

>>36054 Hiding her hind legs under a dress is a clever idea. >>36122 They look great! Striking a good balance between robotic and human in aesthetic.

>>36125 >>36154 Sometimes simplicity is the best option :) For lulz I removed SPUD's seat and have her standing on her... well... stand. She's floating about 8" off the ground. While I do plan now to make the thighs a wee bit longer They won't be 8" longer so I gotta modify the stand a bit. Hey maybe I could put wheels on the stand and use that to drive her around :D

>>36163 >Hey maybe I could put wheels on the stand and use that to drive her around :D DOOEET! The internals of a little car kit should give you the essentials. Little tweak here, little drill there & Bob's your Uncle! So cute seeing that chobitsu ear with cord running out of it! :)

>>36164 >little car kit gonna need to use chonky motors tho (which I have in spades) I managed to get pyfirmata working with an arduino mega, which means I can control an arduino mega using the raspi over USB. 16 analogue pins and 52 digital pins should be more than enough for SPUD to interface with a mobile base to allow some semi-autonomous movement. Cant do more than 1 arduino mega because that introduces a spectacular amount of lag (or maybe the floating pins were causing silliness). A good chassis to attach the power supply, and once I build the robodoog chassis I can use this chassis to retrofit the workshop waifu (robowaifu v 1.0 "Carry")... Did a test waggling the feets in a circular walking motion. Wouldn't look too bad imo. Need to make the hips less wide tho. Even so, the trick to avoiding uncanny valley is to stay away from it after all :D

>>36278 >gonna need to use chonky motors tho (which I have in spades) Yep. Really just meant the control electronics/remote/etc. >robodoggo One of our ideas was to have a chairseat at the prow of the mobility base for MaidCom/WheelchairWaifu s . What do you think about the idea of having dear SPUD just sit down on the doggy and motorvate around that way?

>>36283 >control electronics/remote/etc I mean perhaps I could: I do have a spare one sitting around that is controlled via smartphone app. It would be possible to make it switch between app control and onboard computer (SPUD) controlled. >robo doog wheelchair Having SPUD looking like she's riding the doggo is an option, but having the entire robot look like a single unit is rather tempting. Been roughing out some panel shapes with scrap foam for SPUD, I'll definitely have to make some covers for SPUD's lumpy legs, and they'll probably lie a bit better when compressed with a morphsuit.

Yeah, SPUD looks ok in her morphsuit. Need to figure out how to get it to hug the boobles more, and shift the codpiece down by about 6cm so the gap between the hips/shin is less pronounced. And print some panels to cover the transition where the squish thighs go into the knees.

>>36364 >>36367 Very nice progress with the pads + suit, Mechnomancer! This should look really slick once you've gotten everything worked out here. Cheers. :^)

>>36367 >morphsuit Do you plan on changing out suit often? You could always utilize velcro to the boobs. Red area is where I'd put some. Blue is if there's not enough boob hugging with the red alone. You could maybe utilize velcro for the other parts as well.

>>36364 This looks really promising, especially considering a power mesh suit on top keeping everything in the right shape. Probably better to use leggins and some top separately, to keep her internals more accessible. Also, maybe roll some soft textile up for the internals of the legs. >>36367 Ah, this went ahead quickly. I didn't look at the other pictures while writing that above. Excellent.

Been dealing with some irl stuff, but I've now had time to print some nice thigh-high covers for SPUD's thighs. The lumps on SPUD's right thigh (frame left) are because I didn't sew the thigh pouch: I hot-glued it. I'll sew some nice ones once I'm sure everything will work out. I'll need to address that indentation where the hip meets the leg. Can probably use some stretchy fabric to go in-between and change the height of the codpiece To attach SPUD to a stand, I'll use a trailer wiring harness with the socket in the base of her spine, and the plug on the stand itself. That does mean I'll need to redesign some of her bum plates (hehe bum hehe). Oh, and the I2C wiring got disconnected from her body servo control boards while stuffing her in the bodysuit. Whoops!

>>36980 Naicu! Thanks for the update, Mechnomancer. Hope your AFK adventures are good. >trailer connectors Good thinking IMO. Anywhere that commoditized things can be (re)used in robowaifu systems -- and serve just as well as a purely-custom solution -- then all the better. I'm sure you'll work things out with the hips/thigh intersection, Anon. Kiwi has been working through some ideas in that area as well lately. Cheers, Anon. :^)

AFK adventures have taken longer than anticipated, including the need to repair all my 3d printers: I never did have more than 2 working at a time, and now I have all 3 running. One of them occasionally likes to screech an error alarm without an error showing up though. Another requires a 500% filament flow rate in order to print without ghosting (still uses a comparable amount of filament as the other 2). Such silly machine spirits. I have printed and laid out the torso motor mounts for my scaled-up robot dog base I hope to use for SPUD, I shall call it "Sploot". Hope that it stands about 3 ft tall. I've been working with Gamemaker Studio recently, and might have come up with a solution to use that to introduce autonomous navigation for Sploot. It's a janky and goofy idea, I know. But I am familiar with the program and all the other autonomous navigation systems feel so esoteric to me. SPUD's current sitting position makes her look like she has a spare tire and I'm too embarassed to post it here (she is too lol). With the 3d printers working again I'll also start getting back into printing the mimi sentry files so I can have a body with which to do a public release of SPUD's code.

>>37401 Nice! (thumbs up)

>>36364 > Having SPUD looking like she's riding the doggo is an option, but having the entire robot look like a single unit is rather tempting. You could make her a centaur so you can ride her around instead

>>37401 Hello again, Mechnomancer! Glad to see you managed things and making progress towards dear SPUD's mount. >Sploot <""Now here's SPUD & her trusty sidekick Sploot!"'' I like it! :D I'm sure you'll work out the forms & shapes with time, Anon. Patience.

>>37405 >You could make her a centaur so you can ride her around instead Giggity. Serious tho, I don't think the motors would be powerful enough for that... or maybe the 3d printed parts wouldn't be. I'd have to do some durability testing (not in the giggity way!). >>37410 Sploot's form and shape is turning out to be quite the chonk at least :D (1kg filament spool for scale)

>>37413 Impressive. My instincts tell me that cannon bone is going to struggle bearing the weight of Sploot+SPUD. Ever consider metal for these leg bones & joints? Mayhaps you can devise something similar to the suspensory apparatus [1] in hoersbros. Light, but strong+resilient. Also, do you plan to have some kind of fetlock-like joint (possibly containing wheel[s] as well?) at the distal ends? <---> Just some ideas. You're already making great progress with Sploot, Mechnomancer. Again, its impressive! Cheers, Anon. :^) --- 1. https://www.anatomy-of-the-equine.com/suspensory-ligament.html >=== -add'l edit

>>37414 I've worked with PVC long enough to know its limitations ;) I'm more concerned with the strength of the 3d printed bits, but I can increase infill as necessary. Might put in some sort of compression spring in some of the linkages if things get too bumpy. Definitely need to print some feets. The screenface code for SPUD is a complete mess so for the public release I'm rebuilding it from the ground up. Using PIL to overlay images and using opencv to display the image is much easier than using opencv for the whole compositing process. I haven't yet tested it on a raspberry pi so I might need to optimize it some more. Next step is to actually make some more mimi-sentry face graphics so I can actually have files for the code to scan a directory, generate emotion keywords and load the graphics into memory.

>>37567 Nice! Really looking forward to these advancements of yours, Mechnomancer. Cheers. :^)

Doesn't look like much progress, but there is now ALOT going on underneath the hood. When the code begins, it scans the face directory generating a list of keywords based on the file names. If there is the proper # of files for the keyword, it keeps the keyword and loads the corresponding set of images into a list (in the computer memory, much faster than opening the file every single loop of the code). These can be called upon using the same index as the keyword list. If there is an improper # of files (not exactly 5, or you misspelled the filename) the program simply won't load the image file set. You can technically name the files anything, but it loads them in alphabetical order in the order for eyes closed, eyes open,iris, mouth open, mouth closed. It also doesn't start the program if no valid face files are loaded. TLDR: if you name files properly you can easily add more expressions without touching the base code Cycles between faces using "D" and make the mouthflap work with "S"... opencv is a little wonky with the key detection so it spazzes out a bit Making the graphics easily expandable was the hardest part. Now on to integrating voice commands and making those easily expandable... vosk doesn't like to play nice with others so I'll see what I can whip up.