Servo control for articulating neck?

[Don Wind]

I'm using the nervo boards from the website, and noticed there is no connection for the articulating neck servos. Is it common practice to add another arduino for the articulating neck? Is there a web page or video that addresses the servo control for the articulating neck servos? Those servos are physically close enough to the arduinos to run an extra wire to a free pwm pin. Please advise me on how others are approaching this problem. Thnks again , Don

[gael langevin]

Hello,

If you are building a full InMoov, the Nervo Boards have the pins for the neck and rothead, the second Nervo bard has the spare pins which can be used for the Rollneck (articulated neck)

We have implemented InMoov service for Rollneck to use only one servo and the other is a slave(like for the TopStomach servo). By default it is set on pin 30, which needs to be changed in the advanced section if you use the pin 12 of neck. You can also determine on which Nervo board you wish to connect the Rollneck servo(left or right)
https://github.com/MyRobotLab/inmoov/blob/master/InMoov/config/skeleton_head.config.default

[MAIN]
isHeadActivated=True

[ROLLNECKSERVO]
isrollneckactivated = True
RollNeckArduino=right
;RollNeckArduino=left or right

[SERVO_MINIMUM_MAP_OUTPUT]
;your servo minimal limits
jaw=10
eyeX=60
eyeY=50
neck=20
rothead=30
rollneck=20

[SERVO_MAXIMUM_MAP_OUTPUT]
;your servo maximal limits
jaw=25
eyeX=100
eyeY=100
neck=160
rothead=150
rollneck=170

-------------------Advanced---------
[SERVO_PIN]
jaw=26
eyeX=22
eyeY=24
neck=12
rothead=13
rollneck=12

Gael Langevin

Creator of InMoov

InMoov Robot

@inmoov

2017-11-29 21:10 GMT+01:00 Don Wind <dtwi...@gmail.com>:

I'm using the nervo boards from the website, and noticed there is no connection for the articulating neck servos. Is it common practice to add another arduino for the articulating neck? Is there a web page or video that addresses the servo control for the articulating neck servos? Those servos are physically close enough to the arduinos to run an extra wire to a free pwm pin. Please advise me on how others are approaching this problem. Thnks again , Don

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[Roger]

Hi Gael, 

I'm trying to get the articulating neck working following your script but not going anywhere since spending hours and hours, 

I had attached screenshots of MRL and also images of the neck, 

the problem is the rollneck does turn (one motor is turning clockwise and the other motor turning anticlockwise but the head is not moving left and right, on pin 12 of the right arduino

I tried to move the articulating neck in MRL (but the head does not move up and down ) on pin 12 of the left arduino...., 

Please let me know as what I'm missing or what I done wrong , 

I'm confused alot, 

also, attached is the config of the head I used...., 

Thank you for your help!

 

Kind Regards, 

Roger

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[Roger]

Hi All, Gael, 

Below are two video links which describe the issue I'm having with the neck:

https://youtu.be/yIX8vX-shn8

https://youtu.be/p2FduzW5Qmg

Thank you for your help, 

Kind Regards, 

Roger

On Thursday, November 30, 2017 at 8:36:35 PM UTC+11, gael langevin wrote:

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[Ash InMoov]

Hi Roger,
The neckpiston must not turn, just put a screw here...

[Ash InMoov]

Sorry, i can’t put a photo,
Put a screw between neckpiston and neckplatehigh
But before, you must adjust or caliber your servomotor

[gael langevin]

Hello,

I will confirm what Ash is saying.

First make sure your side RollNeck servos are mounted this way:

On your video and pictures, I can see you have mounted one of the side RollNeck servo the wrong way.

Then you need to put screws on each pistons to make sure the ball doesn't rotate inside it's socket, otherwise it will never work.

Then in your head config you need to modify this, but looking at your posted images, it seems you did it already:

[ROLLNECKSERVO]
isrollneckactivated = True
RollNeckArduino=right

This is to make sure the pin 12 for RollNeck is used on the right Arduino.

And the pin 12 for up and down Neck is used on the left Arduino.

[Roger]

Hello Gael, Ash, 

Thank you for your reply on my issue, and you even placed the photos, that's so awesome, so clear

(because I was going to ask you if I should place the screen there (where you circled) and your photos spoke it all. 

it looks like a small screw you put there on the piston, if I put in a M3 short screw , will that be ok? 

just want to make sure I'm not breaking the ball while screwing it in, 

I look forward to your reply and thank you as always!

Kind Regards, 

Roger

[gael langevin]

Yes 3M is the correct diameter.

Note that there is a whole to receive the screws in each ball, which defines the position of the piston.

Gael Langevin

Creator of InMoov

InMoov Robot

@inmoov

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[Roger]

Hi Gael,

Thank you for your confirmation of the screw size and also
The hole as well, you made it very clear, I'm going to
Try it out and update here.

Thank you for your help always!!

Kind Regards
Roger

[Roger]

Hi Gael, 

I followed your instructions , putting a screw on each piston and then assembled them back again, fixed 

the servo position too. 

I have attached 3 images, please let me know if it looks correct or not, 

However, one photo (attached) called Inmoovbackofneck  ,  I have highlighted some parts in red circle, 

I spent the whole night last night trying to get it straight or perfectly balance the "neckplatehigh" on the pistons) but I couldn't, 

any advise to get both of the back two pistons in a balance position please (or making the neckplatehigh part looks balanced? I had highlighted the unbalanced part in the picture. (I had also set the servos 

to all 90 degrees first before I attach the pistons to the servo)... 

Thank you for your help as always!

Kind Regards, 

Roger

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[gael langevin]

Hello,

Make sure these two parts are lued to gether and aligned straight.

I have put two ugly red arrows to show the two parts.

If these parts aren't glued together, it is very difficult to align the head, because it constantly change the NeckPlate of position.

Note that achieving a perfect straight head is almost impossible, because of the whole concept.

Save your nights for sleeping.

:)

Gael Langevin

Creator of InMoov

InMoov Robot

@inmoov

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[Roger]

Thank you very much Gael and for your detailed explainations
And diagrams, I get it now and tonight I can go to bed earlier :)
By the way your arrows are nice , not ugly at all, I use the free greenshot on google as well for them.

I can move on to testing the shoulders and arms now:)

Thank you for your help as always,
Kind Regards
Roger

[Roger]

Hi Gael, 

Would like to let you know that the neck is moving now besides the eyes is always looking to the right, not sure why..., 

Thank you for your help as always! Loving InMoov and this project! 

https://youtu.be/N0_xPcKLVqs

Kind Regards, 

Roger

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[gael langevin]

Great news for the Neck!

I had created a gesture to check the Neck tilting, but I can't remember if I had add it into Manticore.

The voice command is: "check your neck" or "please check your neck".

The eyes staying to the right side can be the result of various things:

1-Your servo was not set at 90 when the eyes were centered during assembly.

2-You need to modify the config file to adjust the mappings of the eyes.

3-The mechanism is stiff (too tight) for the servo to operate fully.

4-The servo burned out.

I noticed in your video that the jaw is staying open when talking, which shouldn't be.

Maybe it's only a matter of software configuration.

Check your head config file and modify this line:

MouthControlJawMax=100

modify to this:
MouthControlJawMax=180

Gael Langevin

Creator of InMoov

InMoov Robot

@inmoov

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[Roger]

Hi Gael,

The voice command definitely sounds awesome and yea for the
Eye, the advices are great, I will definitely have a check up
On them and fix

Thank you for your help as always,

I also have issues trying to get the omoplate (shoulder part)
Into its rest position which I will post it up soon

Thanks
Kind Regards
Roger