• Profile picture of keito

    keito posted an update 1 year, 10 months ago

    I built the InMoov hand-i2 and it is beautiful!
    Even though it was my first time to assemble a robot hand, I was able to finish it in less than 20 hours during my 2 days off!
    I was worried that I could not print ABS well, so I used PLA+ for the assembly.
    I was able to mount the MG996R directly on the WristLarge by cutting off the protruding attachments with nippers!
    I think this is a great project!

    I have three questions, many, but I would be very happy if you could answer a few.

    First, I have selected the number 2 on the Assembly & BOM List on the hand-i2 website (URL1) and assembled it.
    Next, I would like to assemble number 1.
    I refer to the following assembly tutorial of the old version (URL2) and the current version (URL3)
    I would like to know which of the remaining parts above the wrist will need to be printed and which will not need to be printed.
    Also, what strength of elastic thread should I choose for the assembly of number 3?
    URL1: https://inmoov.fr/inmoov-hand/
    URL2: https://inmoov.fr/hand-and-forarm/
    URL3: https://inmoov.fr/hand-i2/

    Second, what is the reason for designing in ABS? Is it possible to print and assemble all parts in PLA+?
    And can you change the servos in the following BOM list (URL4) from
    HS805BB → DS5180
    HK15298B → MG996R
    DS929 → SG90
    Is it possible to assemble all the joint parts of InMoov with these 3 kinds of servos?
    Also, are there any problems that may occur in this case?
    URL4: https://inmoov.fr/default-hardware-map/

    Third, the development of the ROS (URL5) for InMoov seems to have stalled.
    Development of an OS to handle this ROS version has already been completed.
    Isn’t this a major hindrance to the motivation of users who can handle ROS to join the InMoov community?
    It would also greatly affect the introduction to the academic research side.
    If it is an obstacle, it is an incentive, but I think it will be a major factor in slowing down the development of InMoov.
    I think we will also miss the development of the advanced intelligence of InMoov.
    The Hand i2 has shown that InMoov is still evolving.
    So why don’t we introduce InMoov in the latest version of ROS (melodic,noetic,Iron Irwini)?
    I am a beginner in ROS and have no knowledge of ROS2, but I will do my best to help if I can.
    URL5: https://github.com/alansrobotlab/inmoov_ros
    • Profile picture of Gael Langevin
      Gael Langevin replied 1 year, 9 months ago

      Sorry for the late response.
      ROS is implemented in Myrobotlab Nixie. So both platform can work together. I personnally never use it as it was too complex for me when I started InMoov project.

      • Profile picture of Gael Langevin
        Gael Langevin replied 1 year, 9 months ago

        Great work on the hand!!

        • Profile picture of keito
          keito replied 1 year, 9 months ago

          I know this post is hard to see, so I’ll try to separate it from the question and repost it in the other forum soon.
          I’m really glad you got back to me, thanks!

      • Profile picture of keito
        keito replied 1 year, 9 months ago

        Mr. Gael, it is a great pleasure to speak with you!
        If you don’t mind, could you please give me the URL of the page where you share information about the cooperation between ROS and Myrobotlab Nixie?
        I would be happy to help in any way I can on this issue!

        As I mentioned above, the OS version of ROS and its dependencies that can work with Myrobotlab before URL5 is very old, 9 years old (Ubuntu 14.04LTS).
        The current ROS setup environment is different, especially since python2, which was mainstream at the time, is no longer supported.
        Not only InMoov, but most robots need to use ROS running on Ubuntu 18.04LTS or Ubuntu 20.04LTS, which support python3.
        Otherwise, it is difficult to design more intelligent robots using the latest libraries.
        For this reason, few people with ROS knowledge use this version of ROS with InMoov.