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Here is a BOM Updated 04/05/2016

  • Of course you need to have a 3d printer.
  • 2x arduino Mega=80 euros ebay.(The default is 1xUno and 1x Mega, but the legs and waist are yet to come )
CSK-Allen-Bolt

Screw Allen countersunk:

  • M3x20MM about 50.
  • M4x20MM about 50
  • M8x100MM about 15
Phillips Flat-Head Wood Screws

Phillips Flat-Head Wood Screws:

  • M3x12MM, about 100 for small servos.
  • M4x20MM, about 50 for big servos.
  • Plus some small screws for the eye mechanism, the jaw machanism and to fix the pistons on the small servos. But I used the screws that were delivered with the servos.

 

 Hands and forarms(Left, right):

  • 10x servos HK15298B=180 euros Hobbyking
  • 2x servos MG996r=22 euros ebay for the rotational wrist
  • 0,8mm braided /fishing line. 200LB= 10 euros ebay
  • Miscealenous Bolts= 10 euros hardware store
  • 1500gr natural ABS= 70 euros orbi-tech get 4kg if you start printing
  • 10x extension spring 0.51mm diameter, 1cm length(13/64″x13/16″)

Arms and shoulders(Left, right):

  • 8 Hitec HS805BB=240 euros ebay (better get even stronger in torque and faster)
  • Miscealenous Bolts= 10 euros hardware store
  • 1500gr black, yellow, natural ABS= 56 euros orbi-tech

Head and torso:

  • 2x Hitec HS805BB HEAD 4 AXIS
  • 1x servos HK15298B JAW MECHANISM
  • 3x Servo DS929hvCorona EYE MECHANISM
  • 1X Camera Hercules HD (dismantled for this purpose)
  • or 1X LifeCam3000 Microsoft
  • 1X kinect xbox 360  (not dismantled or see tutorial below)
  • About 4kg natural ABS
  • 0,8mm braided thread/fishing line 200LB= 5 euros hardware store or ebay
  • Miscealenous Bolts= 10 euros hardware store
  • 1500gr natural ABS= 70 euros orbi-tech
  • 3x Battery 6V12AH  + charger:  80 euros (The robot requires only one battery to work, but you should have at least 2 or 3 to be able to run a few hours.) Alternatively when running the whole day, I used a eFuel switch Power supply 6V-15V Output 20Amps but it is not really enough for the full robot. So I’m currently using a 6V 60Amps Switching Power Supply. Here is a link for a 6V 50Amps:  http://www.ebay.ca/itm/New-6V-Power-Supply-300W-6V-50A-Switching-Power-Supply-WITH-CE-/182703380182?hash=item2a89f856d6:g:dJ4AAOxyXHpSTJZ-
  • 2x Mini PC speaker 4Ohm 6W
  • 1xPIR sensor retriggered
  • Cables and wires

Stomach:

  • High stomach: 2x Hitec HS805BB
  • Mid stomach: 2x Hitec HS805BB  or HK15338

Ribbon cable length:

  • Nervo board to neck——————————— ribbon length10cm
  • Nervo board to head (Eyes/Jaw)—————- ribbon length55cm
  • Nervo board to shoulder 3xribbon————– ribbon length35cm
  • Shoulder to Arm————————————– ribbon length 0cm
  • Shoulder to hand————————————- ribbon length30cm
  • shoulder to fingersensors————————- ribbon length30cm
  • Nervo board to stomach————————— ribbon length30cm

This works well:

I’m now using a Lenovo Touchpad 8″ tablet with a 8port Hub powered by a Powerbank 10000mAh 5V. The Tablet runs either under Windows8 or 10, and can be configured to run with Linux. It is a true mini PC. You will need a OTG+Charging special cable for this Lenovo Tablet. I had a hard time to find it, which is very strange. Carefull other similar Tablet brands cable will not work.

I was expecting to be able to use the case for travelling but unfortunately there is a serious issue with the size. Although the seller pretends to sale cases that fit 8″ tablet it is truly impossible to fit the tablet.

So you are advised about the issue…

Beside that the keyboard works fine, with sometimes a loss of connection but it automatically reconnects anyway.

The PowerBank+8 port HUB USB3.0 powers through USB:

  • the tablet Lenovo
  • the Arduinos
  • the cameras
  • the sound amplifier
  • Kinect

I purchased a 8 port HUB USB3.0 to have extra ports and it works fine with the OTG cable and the Lenovo Tablet. If you do not use the powerbank, it’s important for to power the hub to have a supply that can deliver at least 5v4Amps, because we hook many USB devices that require each 500mAh.

 Substitute possible tablets but not tested:

  • Venue 8 Pro 5000 (5855) (Should fit according to the specs size)
  • Insignia™ – 8″ – Tablet – 32GB
  • KOCASO 8 Inch Windows 10 HD Tablet PC Computer (Too small, will need a printed adapter)
  • Chuwi Hi8 Pro 8″IPS Windows10 (Should fit according to the specs size)
  • NUVISION, Full HD 1920X1200 IPS Signature Edition tablet. 8″(Too small, will need a printed adapter)

Kinect 360 battery powered with  10 AA rechargeable batteries of 1,2v 2500mAh.

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After many tests with the OdroidU3 and the Raspi2, I came to the conclusion that the Arm processor were too slow to obtain a correct FPS value from the cameras, which lead me to go for another option.

This is abandoned:

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Servos in order of my preferences for the hand:

  1. HK15298B  (Strong torque 20kg , no noise, never burned, 90degree)
  2. HK15298    (Strong Torque 15kg, noisy, never burned, 90degree)
  3. MG996R    (Low Torque 10kg, a bit noisy, burn sometimes, 180degree)
  4. MG946R    (Middle Torque 12kg, a bit noisy, burn sometimes,180degree)
  5. MG995      (Low Torque 10kg, a bit noisy, burn very easily, 180degree)

These are servos I have tried. There is other servos that can fit the required size specifications. All these servos need to be set with a Min, Max within the software because their rotation in degree varies. Each finger of the InMoov hand has a different extension, retraction length.

 

Alternative Servos that I haven’t tried that maybe can fit:

For the hand:

  • TGY-5521MDHV (24kg torque, should fit)
  • JX PDI-6221MG(20-36kg torque, should fit)
  • RS-550MGC-HV (11.2kg torque, should fit)
  • HS-311  (3.5kg torque, should fit)
  • XQ-S4020D  (21.5kg torque, should fit)

For bicep, shoulder and torso:

  • Savöx SV-0235MG (35kg torque, should fit)
  • TS-80 Tower Hobbies giant scale(24kg torque, identical to HS805BB)
  • CYS model S8218  (40kg torque, does not fit, needs adjustment, issue software with attach/detach)
  • HK15338 (25kg torque, fit perfectly, needs resistors, reversed polarity)
  • HS5805MG(27,5kg torque, should fit)
  • PDI-HV2060MG jx (60kg torque, should fit)

For the eyes:

  • Towerpro MG91

For stomach:

  • Savöx SV-0235MG (35kg torque, do not fit needs modifications)
  • TS-80 Tower Hobbies giant scale(24kg torque, identical to HS805BB)
  • CYS model S8218  (40kg torque, does not fit, needs adjustment, issue software with attach/detach)
  • HK15338 (25kg torque, fit perfectly, needs resistors, reversed polarity)
  • HS5805MG(27,5kg torque, should fit)
  • PDI-HV2060MG jx (60kg torque, should fit)

Comments 72

  1. Profile photo of

    “0,8mm breaded /fishing line. 200LB= 10 euros ebay”

    Probably means to say braided fishing line. I doubt you are breading your fishing line, but who knows. Might taste good on a sandwhich ;)

  2. Profile photo of David

    Hi, i printed most of the parts, now getting all the hardware together. A few questions.
    First about sevos.
    In Head and torso you say
    2x Hitec HS805BB HEAD 4 AXIS
    what you mean by head 4 axis? And if this is head and torso, dose this include the lower stomach that requires 2 Hitec HS805BB servos hacked? so in the Torso body there wont be any more of the big servos?
    Also the eye mechanism, it says one 1X Camera Hercules HD but on the pictures it looks like both eyes have cameras, so dose it mean we need 2?

  3. Profile photo of Rosario

    E ‘can have scripts full imoov complete with its links to the servants.
    Furthermore arms possess high two Arduino to connect to the hands? Because the diagram can not connect other servants. Please someone help me to understand all the connections to use scripts. thank you in advance

  4. Profile photo of anthony

    Hi just an existential question before get inmoov fired :)
    Can i use my 6V / 20A alimention to feed the nervoboard AND the arduino ( ext 6v > 20v ) , maybe the nervoboard allready feed the arduino ?
    Or I need to use the 6V to feed the nervoboard and some 5V to the arduino ( same ground ) ?

    tks

    • Profile photo of Gael Langevin

      The Arduino boards are powered by the USB connection to your computer. The Nervo boards power the servos. Grounds are connected between the Arduino and the Nervo board(assuming you did all the weldings as in the tutorial)
      Your 6V20A power supply will supply only the Nervo boards.
      I hope this answers your questions.
      Let me know on the community activity if you need more guidance.

  5. Profile photo of Laplace

    hello , i finished my right hand and forarm i want to test my servos but witch one is the number 1.is it in the spot of 3 or in the spot of 2 on left or right ???
    for the alim is it better to use battery or an laboratory alim ??? doese the Amp (6A) are important ?
    sorry for all those questions but i’m a beginer. print all the piece wasn’t a problem but servos and arduino is an new stuff for me.
    thanks for this project.

  6. Profile photo of martin

    bonjour je voudrais savoir quel sont les ressource idéal en ce qui concerne la tablette ou le pc pour le inmoov de façon qui n est pas trop lent pour la réaction de travaille ?
    j ai vue tablette lenovo tab 8 ,est ce que tout les tablette fonctionne a partir du moment ou elle son sous Windows ?
    est ce que surface 2 ou une samsung peut suffit je ne veut pas faire de bêtise en achetant trop faible merci

    Dany

    • Profile photo of Gael Langevin

      Hello Dany, what is important is to get a fast processor. Surface2 will be okay. It’s hard for me to tell it will certainly work because, I haven’t tested it though. You can run MyRobotLab on Windows 7 and up, on Linux and OSX Apple.
      I have an old Pentium4 Windows XP and I can run InMoov with it, so anything with a recent processor should do the job.
      I only recommend the Lenovo Touchpad 8″ because it fits in my design of the back parts of the robot.

      Oops désolé j’ai répondu en Anglais, c’est l’habitude…

  7. Profile photo of pedro

    Hello Gael,
    my name is Pedro and talking from Portugal, Lisbon. I belong to a non-profit association named Hackerschool from the university IST, that work on projects from electronics, robotic, programing etc.
    We are at the moment starting the inmoov project, and would like to contact you regarding, if ideologically would be a problem to obtain some help from local sponsors to pay the materials.
    Would be fantastic to discuss that with you since we have no wish to disrespect in any way the inmoov community.
    Thank you and great robot !!!!

    pedrogilsenarego@hotmail.com

    • Profile photo of Gael Langevin

      Hello Pedro,
      I’m glad to hear that Lisbon is going to have an InMoov in your Hackerschool.
      I have been developping InMoov since 2011 without any sponsors. I can hardly tell you how difficult it is, because I had some tough moments, I would have liked to have more filament to keep printing my progress, but I had to wait to get my pay of the month.
      Still today I don’t have sponsors!! The main reason is because I don’t want them to interfere with my project, I am very difficult on that matter…
      Thanks for your concern.
      Let me know how your progress is doing, if I could I would sponsor you!!
      :)

  8. Profile photo of Alfy

    Hi Gael!

    I’m commenting from Science Centre Singapore. We have just started this project and I would like to thank you very much for the comprehensive tutorials for us to follow. I am an engineer here and am using your build for internship programs here with Mechatronics students.

    We also do artiste in residency here at the centre and some workshops. I was wondering if you would want to discuss about any collaborations that we could possibly have.

    In any case keep up the good work!

    • Profile photo of Gael Langevin

      Hello Alfy,
      It’s great to know InMoov project is getting built in Singapore! Hopefully we will see your progress pictures on the community ward.
      We actually need help on the programing side. As you know Myrobotlab is being developped by members and by Greg Perry, which is a LOT of work.
      Any help focused on improving the InMoov services on the software is welcome!

    • Profile photo of Gael Langevin

      Hi,
      No there is no tab that controls the whole hand.
      But if you use a script to initiate the hand, say this one: inmoov.minimal.py.
      You can write in the python window of MRL, after the script has been launched:
      i01.detach()
      or
      i01.attach()
      it will disconnect all the servos by un powering them.

  9. Profile photo of AHMET OGÜN

    Good morning, Mr. Geal,
    First of all I sorry for the my poor english. I looked with admiration your project. I studied electronic and mechanical engineering. Now, I’m retired. For years I have read many books about robots. And finally, at your site, “ınmoov” I met with. A short time ago I made my 3D printer. Now, “ınmoov” I press the pieces. At the same time, “Arduino” on the books I read. In later times, I may need your help. I live in Turkey. It may have difficulties in finding material. Price, time, transportation etc. Later I will be my questions to you. Thanks for your help.
    Best regards.

  10. Profile photo of Humanoid

    Hi Gael,
    Thanks for sending the Nervo board to Australia so quickly.
    I am looking for a suitable tablet for the back. The Lenovo Thinkpad 8 is getting more outdated so I was wondering if you (or anyone else) knows of any other more recent Windows tablets which fit in the back without having to modify the inMoov.

    Also, are you running the whole of your inMoov connected to the Lenovo Thinkpad using MRL? I noticed that the Thinkpad only has a single USB port. Are you connecting an 8-USB hub to the Think-pad or are you using Wifi from that one or another computer? It would help me to know exactly what you are using and if you are using two computers at the same time or whatever.

    Thanks again for introducing me to the world of inMoov and robotics :~)

    • Profile photo of Gael Langevin

      Hello,
      That is a fact, tablets are obsolete within no time. I haven’t found a replacement tablet yet although my search was limited and brief. There is someone that recently posted pictures of his InMoov on the community page that shows another brand of tablet. The size seems to fit although the USB connector is disposed on the left side instead of under.

      The Lenovo tablet runs the whole InMoov, no need for an extra PC. The unique USB port can be used to power up the tablet and to connect a self powered HUB of 8 ports to have sufficient ports for all the current devices. See the BOM page for the details.

  11. Profile photo of Johnny

    Hello, looking at building the hand. I already have some servos from HK, however they are rated for 1.5kg/cm, while the ones you recommend are for 10kg/cm, is the 10kg/cm really necessary? I know I may need more than 1.5 but 10? Are there alternative servos I could use?

    • Profile photo of Gael Langevin

      Hi,
      A lot of torque is lost in the length path of the tendons. A servo with a torque of 1,5kg will maybe get the finger to move but don’t expect it to hold anything for a while, it will certainly burn out. Even the 12 kg torque (MG946)are burning out, that is why I recommend the HK15298b which have a 20 Kg torque, I never got any of those burned out.

  12. Profile photo of jake

    Hi, I bought the Chuwi Hi8 pro 8 to test in the back and have found that it does not seem to work, hopefully I can save others the headache.

    Here are my issues:

    Windows 10
    Auto update fills up all disk space, not allowing sufficient space to install MRL. With android on there only 16GB is available for windows.

    Kinect
    Wouldn’t activate, not sure why. Quick search showed that it could be a USB bandwidth issue.

    Charging limitation
    It has 1 USB C port, I cannot find a way to charge and use a USB hub at the same time. Maybe there’s a solution out there.

    Battery Life
    between 2 and 4 hours browsing the web. Im sure it would drain faster running MRL.

    Case fit
    its just too small and it would need an adapter. In addition the usb port would need a hole to go through since it connects on the side vs the bottom like the lenovo.

    Overall
    The tablet seems fine itself, though build quality isn’t great, but for 100 USD i wouldn’t expect the best.

  13. Profile photo of Humanoid

    Gael,
    I am installing the finger sensors. Can you please tell me the value of the 8 pin 7 resistor SIP resistor you used? Also is it a Type A SIP Resistor or a Type B? I thought it would probably be a Type A. I noticed that there are many different Ohm values available for the 8pin ones.

    Maybe the sensor requirements could be added to the list.

    • Profile photo of Marten de Groot

      Hi Humanoid,

      You need type A and pin 1 needs to be connected to GND/ground.
      I don’t no yet which resistor value is the best (I haven’t the foam at home)

      If you using this SIP resistor network:
      When there isn’t a sensor connected, the signal to the Arduino is connected to GND by default.
      Because this SIP resistor connects all Signals to the GND.

      If you connect the Sensor(s) to the Plus and the Signal, there is a voltage divider created.
      When the resistance from the sensor go’s lower when you pressing to the finger, the signal voltage to the Arduino go’s higher.

      I think you already find out where you need to solder the SIP resistors.
      Here a picture just in case:
      https://www.dropbox.com/s/hvu5mqrtvj78fp1/Analog_Mega_Board.jpg?dl=0

      I’m sure when the finger sensor is included by default, Gaël will include this info soon to the NervoBoard tutorial.

      Regards,
      Marten

  14. Profile photo of DonBosco inMoov

    Hello Gael

    I’m a bit confused with 2 servos that show in the mechanical layout as “articulating neck” (the two ones at the side of the bigger “articulating neck”).

    What do these two servos do exactly? I understand that there is one servo for “head rotation” (left/right) and I guess we need another servo in order to move head up and down, right?. But how about the other two “articulating neck”? I can’t find their function explained in any of the “build yours” page, or where do these servo locate in the 3D pieces.

    I’m in need of some insight about this, i’m probably missing something in the tutorials. Thx in advance.

  15. Profile photo of Mustafa NAZMAN

    Hi, Gael.
    Thanks for sharing this great project with all of us.
    I am a teacher in Vocational Highschool Industrial Automation Department in Izmir,Turkey.
    I started to make inmoov with my students as like as a project work.
    They are very excited about this project.
    We started to make fingers, hand, arms and shoulders.
    My students are coming to the school even their holiday time for printing.
    So we warmed our printer and it used to work without cease:)
    Maybe we will have more questions in the future if you have permission.
    But today I want to ask you one question about odroid U3.
    Nowadays I couldn’t find it in any store in Turkey.
    But I can find Odroid C2. Due to my worries about some differences that I couldn’t know,
    I want to ask you about this. Is it possible to use this C2 instead of U3?
    Thanks for your interest. With my best regards.

    • Profile photo of Gael Langevin

      Hello, Nice to hear your student are really enjoying the project!
      As you maybe saw in the Hardware map and BOM, I have abandonned using the Odroid because it is not fast enough to run the robot. Mainly the ARM processors are good for video capturing.
      If you want to go Linux (as the Odroid) I would recommend going for the RasperryPI3, which will give you better results.
      All together to make it more simple, I use a tablet (Windows but it can be switched to Linux as well), because it already has a screen and all functionality, like sound drivers detection, video driver detection, internet access, keyboard, touchpad mouse.

  16. Profile photo of Simon

    Hello Gael, need help understanding the 8 port USB hub. I bought the same 8 port USB hub, can you explain which port the tablet plugs into to charge the tablet.

    I think the red port on the hub plugs into the tablet using the OTG charging cable and the female USB plugs into the front type b USB on the 8 port hub, is this correct? Do you have a picture or diagram?

    Thank you,

  17. Profile photo of SeHee

    Hello Gael thank you for sharing such a great project!
    We are from Korea and I and couple of my friends are on a school project with inMoov, planning to make just both hands and forarm parts. Here we don’t get the exact usage of the nervo board. On your page you mentioned nervo board is to connect several servos and arduinos and it seemes to be put in the head part. Does that mean we do not need nervo board for our project, just the arm parts?

  18. Profile photo of fernando

    Hi, I am interested in mounting the HK15338 servos for the biceps and in the places that these servos are necessary, but you say that you have to add a resistance and that the polarity is reversed ….

    Where to add resistance and what value ??
    And to what you refer with the inverted polarity ?.

    Thank you very much, it’s a great project, I love it ….

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