I have a leg design - is it suitable?

[kris...@secured3d.com]

Hey

My team made a leg design for a prosthesis that never made it to execution. Maybe we can still use the design on inmoov? Would it be suitable? Most probably it would still need a lot of work regarding that it should rotate a little on the xy plane from the hip. Otherwise, the abilities and limitations of the human foot have been taken into consideration when designing this foot.

All the best

Kristjan

[Alan Braga]

NIce, do you have the 3d files?

[kris...@secured3d.com]

Yep. I'll upload pictures of the 3d printed and assembled version soon. The team was quite big who worked on this so I would really need solid feedback that this is usable under InMoov before I persuade the team to make the 3d files open source and available  hope that is OK. 

[Andreas Nicholas]

can't wait to start printing ASAP, oh man legs hot of the presses! fun to watch history being made!

[kris...@secured3d.com]

Some pics from the printed leg.

[Kevin Watters]

Looks Awesome!!! Nice!

[gael langevin]

Hi Guys!

Very nice work you have done!
I've checked your pictures and drawing sketchs. It surely would need a lot of work to get InMoov on those legs considering that the servos will never hold as direct drive. If you post the parts some of the builders could be interested in trying to modify them to get something adapted to the InMoov weight.

The big dilemna I'm trying to solve are the actuators. We need low price actuators, fast and strong that anybody can supply. Once I have that, it will go rather fast to design the rest of the legs I have been working on. I tried various solutions, but I'm not satisfied until now.

So if you guys start designing some legs, I will be happy to see what comes out and ready to adapt around.

​

--
You received this message because you are subscribed to the Google Groups "InMoov" group.
To unsubscribe from this group and stop receiving emails from it, send an email to inmoov+un...@googlegroups.com.
To post to this group, send email to inm...@googlegroups.com.
Visit this group at http://groups.google.com/group/inmoov.
For more options, visit https://groups.google.com/d/optout.

[Adolph Smith]

Can i please have the stls for this legs as it is. I am building a 120cm high inmoov and legs would be perfect for it. Please

[kris...@secured3d.com]

Hey

We are happy to announce that we are going to release the design on our new 3d printing platform www.3dprinteros.com as one of the free projects :)

[Andreas Nicholas]

just signed up, though I haven't played with it yet it looks promising - let us know when we can find the file on there! 

[kris...@secured3d.com]

THE STL FILER ARE UP!!!

Hey

Check them out at https://cloud1.3dprinteros.com

Our site is still in beta testing so don't share it too much...

You can find the files under my filer "DEMO Cyberleg"

All the best

Kristjan

[David Breski]

Amazing - thanks for posting them - wonder if a gryro from my RC Helicopter would work for balance?

Dave

[Kristjan Järvan]

Probably. Try it and let us know ;)

--
You received this message because you are subscribed to a topic in the Google Groups "InMoov" group.
To unsubscribe from this topic, visit https://groups.google.com/d/topic/inmoov/eWOTXVqASeU/unsubscribe.
To unsubscribe from this group and all its topics, send an email to inmoov+un...@googlegroups.com.

[kris...@secured3d.com]

Have you had to look at the files - what do you think? Can you modify them so that they would work with InMoov?

[Kevin Watters]

Hi Kristjan!  

  Thanks for posting the files up.  As soon as I saw they were available, I signed up and have started printing.  The design is nice.  We will need to make it about 2x the current size to fit the inmoov..  (not sure what the exact dimensions of the leg are yet, how tall is it?)  I'm still printing, but I hope to have the parts ready and printed in the next few days.  I had some problems printing the thigh parts, some of the parts failed, so I reprinted them with support and they came out nice.  I suspect many of the pieces will need to be printed with supports.  D_19_Model_CLSM4_thigh_part3 definitely did not print very well. part2 printed ok, but there was some underhang and spagetti sorts of areas..

  I like the ball socket design for the hip parts, but I am concerned that it's only 1 degree of motion, not sure how it's mounted yet, but being able to move left and right in addition to forward/backwards will be necessary to maintain balance. 

  So, I think re-orientating some of the parts so they print easier, and scaling them up to a larger size will be key to get them to work with the inmoov.  However, scaling up some of the parts will make them too large to print on a typical 3D printer. 

  All in all very cool!  I can't wait to start assembly

Best,

  -Kevin

[Kristjan Järvan]

Nice to hear that you are already printing :)

Did you look at what Gael posted? Probably the single-servo-configuration wont be able to support the weight of the InMoov - has to be redesigned. Extendable platform shoes might solve the problem with moving in one direction only :D?

Post a picture when you have assembled it and leave comments. From there we can go on figuring out how to redesign it :)

All the best

Kristjan

--
You received this message because you are subscribed to a topic in the Google Groups "InMoov" group.
To unsubscribe from this topic, visit https://groups.google.com/d/topic/inmoov/eWOTXVqASeU/unsubscribe.
To unsubscribe from this group and all its topics, send an email to inmoov+un...@googlegroups.com.

[Kevin Watters]

Hi Kristjan,

  Yeah, it's all printed out now.  But I think the knee part3 and knee part4 are the same.  I'll have to double check, but I think one of the parts might be missing in the design.  (I may have just printed one of the parts 2x by accident)

Anyway,  photos to follow!  I do have some ideas to maybe us a cyclonic muscle similar to the one here  http://makezine.com/2014/05/28/rise-robotics-cyclone-muscle/

  We could possibly add some joint where the leg meets the chasis to do the left/right motion..  not sure yet.. also the ankle probably also needs that left right flexibility in case the robot is walking on a non-flat surface.

Thanks again!

  -Kevin

[kris...@secured3d.com]

Hey

If there is anything missing from the files - please let me know. We don't have to take into account that InMoov would walk on a non flat surface - let's just make a design that works so we would finally have a full robot. After that we can upgrade certain parts to have the functionality that we desire.

I would prefer a full InMoov design today than a fully functional one in 3 years ;)

[Kevin Watters]

Hi Kristjan,

  Thanks for the quick reply,  Yeah,  D_14_Model_CLSM4_knee_part4.stl and D_13_Model_CLSM4_knee_part3.stl appear to be the exact same file.  This is the only piece I need to complete the print and then I'll post some pictures with some design feedback  

Thanks!

  -Kevin

[Kevin Watters]

Hi Kristjan,

  I was curious if you happened to know what happened to the missing part?  I attached an image circling the part that I think is missing, maybe you can help give me a pointer to it

Thanks!

-Kevin

[Jose Luis del Olmo]

Here other project with amazing legs

http://dhrc.snu.ac.kr/project/humanoid-robot-design/

[kris...@secured3d.com]

Sorry for the delay. Quickfix- you can find the file attached.

It will also be added to the files on https://cloud1.3dprinteros.com/ with the rest of the stl-s.

Hope it works :)

[Kevin Watters]

Awesome!  thanks for sharing out this part. I have completed my print.  I'll try and post some pictures soon!

until I've got a chance to share out better descriptions of it.. here's a quick pic  http://www.myrobotlab.org/content/3d-printed-leg-3dprinteros

bigger stronger faster harder...   I, for one, welcome....

[Charles Kerr]

found an opensource robot leg design thay might work for Inmoov.  A full sized humanoid bipedal robot, the robot has been named DyRoS, from Dynamic Robotic System.

http://dhrc.snu.ac.kr/project/humanoid-robot-design/

http://www.3ders.org/articles/20141125-the-flashy-3d-printable-and-functionally-designed-dyros-humanoid-robot.html

On Monday, October 20, 2014 3:39:04 PM UTC-7, kris...@secured3d.com wrote:

[kris...@secured3d.com]

This is a little bit off-topic, but I wanted to share a cool tool with you that I made.

My mission was to make making 3D designs as easy as is using MS Paint and I wanted to do it on mobile. I think I somewhat succeeded.

Check it out:
https://play.google.com/store/apps/details?id=com.tdcp.threedc

Before next year, we will also have .stl converter for saved files so you can print every design you make. My aim was to enable children to make designs and print them - it should be that easy.
We will also launch soon on iOS

[Bob H]

Are the electronic and motor specs listed anywhere?

[theuserbl]

 https://cloud1.3dprinteros.com/ is no longer available.
Could you please upload all the files here in the forum or to http://www.thingiverse.com ?

Greatings
theuserbl

[nanomole]

I too was looking for whereabouts of the STL`s. in addition how far has anyone got with this or any other leg design for inmoov. just curious...........

[theuserbl]

in addition how far has anyone got with this or any other leg design for inmoov. just curious...........

Look at the InMoov wiki, then you know it:
http://inmoovuniverse.orain.org/wiki/Legs

But currently don't exists a main page for it. Only the side for legs, arms and head:
inmoovuniverse.orain.org/wiki/Arms
http://inmoovuniverse.orain.org/wiki/Head

Hope it helps.

Greatings
theuserbl

[nanomole]

Great thanks for posting the links.

[mason reimert]

The link is broke , Could you please re-upload?

[Joao Raposo]

Hi Gael, and all of you in this discussion group.

After reading your comment, let me add some quick notes.

I understand you're thinking of servos because you need to know the angular position of a certain joint in the knee or in the foot for example. In my opinion servos won't never hold the structure of the the robot above the stomach. How much does it weight the robot at this moment? (i haven't started building my own, yet, so it's a doubt for me). On the contrary, steppers will do the job for sure. There are very strong steppers with both torque and force many times higher than the strongest servos you are working with.

The problem is that with steppers you don't have encoders to get feedback of the angular position. This problem is solved with some additional circuitry per each motor. I will investigate next week how could we adapt a stepper for this.

Last, about the cost goal: good news is that steppers with such specs for force and torque are at the same price level (aprox) than the strongest servos we are talking about (maybe 20 to 30 euros each). I think would be good to spend some time considering this different approach. You might get a few surprises with the force and holding  torque of these steppers.

Give more details (aprox) of the weight we are talking about.

After that we have other issues to think about: balance (equilibrium) , position from inertia to movement, etc... but there we have gyros and accelerometers to help us.

Also we would have to consider volume, these motors are considerably larger than servos. You you have to find a way to accommodate the size in the design. For example just for quick reference, below are the typical dimensions of a NEMA 23.

Let's go point by point. Hope i had helped.

Best Regards,

Joao Raposo

 

quinta-feira, 23 de Outubro de 2014 às 21:05:44 UTC+1, gael langevin escreveu:

Hi Guys!

Very nice work you have done!
I've checked your pictures and drawing sketchs. It surely would need a lot of work to get InMoov on those legs considering that the servos will never hold as direct drive. If you post the parts some of the builders could be interested in trying to modify them to get something adapted to the InMoov weight.

The big dilemna I'm trying to solve are the actuators. We need low price actuators, fast and strong that anybody can supply. Once I have that, it will go rather fast to design the rest of the legs I have been working on. I tried various solutions, but I'm not satisfied until now.

So if you guys start designing some legs, I will be happy to see what comes out and ready to adapt around.

​

2014-10-23 21:30 GMT+02:00 Kevin Watters <kwat...@gmail.com>:

Looks Awesome!!! Nice!

On Thursday, October 23, 2014 11:25:01 AM UTC-4, kris...@secured3d.com wrote:

Some pics from the printed leg.

On Tuesday, October 21, 2014 1:39:04 AM UTC+3, kris...@secured3d.com wrote:

Hey

My team made a leg design for a prosthesis that never made it to execution. Maybe we can still use the design on inmoov? Would it be suitable? Most probably it would still need a lot of work regarding that it should rotate a little on the xy plane from the hip. Otherwise, the abilities and limitations of the human foot have been taken into consideration when designing this foot.

All the best

Kristjan

--

[Tonerwerk Toner, Druckerpatronen kaufen]

Hello Joao,

i also building the InMoov and i am almoust finish.

Everything over the Stomack ( With Notebook, Batteries, Servos and Inmoov Parts) are between 15 and 20 kg.

So its not a feather.

It will be cool if the Inmoov slowly get Legs!!!!


Boris

[Joao Raposo]

Boris, thank you for your answer.

It will get legs for sure! It's just a question of solving some technical points (many...).

After reading your answer, let me add this: i have no doubt we have to move weight below. That is, notebook and batteries have to go down as much as possible, ideally to the belt where center of gravity is. Makes me remember my "Karate" times for many years, resembling to the human anatomy, everything is centered at the hips. 20 kgs is not a feather indeed!!!

In the next few weeks hope to have something to present to the group. After investigate deeply with the sketchs of how the robot is built right now, let me think about this.

Best Regards,

Joao Raposo

[Tonerwerk Toner, Druckerpatronen kaufen]

Hello Joao,


here is my private email:

ky...@rentaprinta.de

lets talk there, i can send you some other legs ideas what is maybe interesting for you.

Boris

[Andrew Mckee]

I've thought of adapting stepper motors with magnetic encoders however a huge setback to using steppers is they constantly draw power, even when not in motion. This is what draws me back toward a high torque/speed servo adapted to continuous rotation in tandem with suitable drive, whether that be cycloid, harmonic drive or other. The Robotis Dynamixel Pro's ($2790/each) used in the THOR-MANG have approx 44Nm torque, indeed a tall order to achieve, however throw enough brains at it and it is very achievable, it's just time and effort to get there :)

[Kameron Kunze]

Hey, tried the link but its dead...does anybody have the .stl files available?

[Andrew Mckee]

We'll this thread appears to have died a certain death. Unfortunate, considering it would be a major frontier for the InMoov to walk. And a shame when you think of the university students who were able to achieve the CHARLI-L with a $20,000 budget for the entire project, which is proof of an affordable hardware solution for adult size bipedal locomotion.

I hope I'm badly wrong and this thread comes to life again, however I sense not everyone operates in the true spirit of the open-source community, instead 'mining' info from the community, repackaging it and launching a KS/Indiegogo off the back of it.

Regards,
Andy

[Anton Fosselius]

 I am hoping to get the time to throw something together that moves, will evaluate my approach, see if it can be fast and strong enough. As i lack a 3d printer and time, I will have to have do with hot glue and VP pipes ;)

Hopefully i will have time to refine it quite a bit. The images above is from a "Rough" sketch in blender, there will be 3x nmea 17 steppers per leg and 2x 28BYJ-48 steppers to control the angle of the foot. 

No linkage are shown in the image, because i am lazy, will show the images later this fall/winter, when i have actually built something. If not, then i hope they will inspire some one ^_^

According to my calculations you ought to be able to build a leg for around 60$ with motors & electronics.

I have been looking at the CHARLI robot as well, its awesome!

 

 

[Anton Fosselius]

I moved everything to freecad and added the project file, also moved the position of one of the smaller motors, will have to design attachments/proper joints later. I have a bunch of arduinos and 32bit arm development boards since before and have ordered some stepper motors and stepper motor drives now. 

[Anton Fosselius]

I just wanted to note that this is my second take on this project.

Here is a video of the first leg: https://youtu.be/V6QL-vpKNac (warning, its really getto)

Here are some "refined" parts i created later: 

[stgro...@gmail.com]

Do you have the CAD drawing or STL, I like to work on them