Circuit1Arduino Circuit2ArduinosArduinoPowerSupply1

Map-ConnectionsV2Map connection V2

Download the Map edition full size.

##############################################################################

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 )

Screw Allen countersunk:

  • M3x20MM about 50.
  • M4x20MM about 50
  • M8x100MM about 15

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:

Speaker_size1If you cannot find a 6V50Amps on the internet, you can get a 5V50Amps power supply with a adjustable switch to increase the voltage to 6V for your servo motors.

In the exemple below I am adjusting my 5V to a voltage of 7.5V.

Stomach:

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

Ribbon cable length:

  • Nervo board to neck——————————— ribbon length 10cm
  • Nervo board to head (Eyes/Jaw)—————- ribbon length 55cm
  • Nervo board to Arm————————————– ribbon length 75cm
  • Nervo board to hand————————————- ribbon length 90cm
  • Nervo board to fingersensors————————- ribbon length 120cm
  • Nervo board to stomach————————— ribbon length 30cm

Latest Configuration with NUC:

  • CPU: 8th Gen Intel i7 8550 Quad Core 4,0ghz
  • SSD: 256GB (OS + Myrobotlab)
  • HDD:500GB ( just because I had a spare hard drive)
  • RAM: 32GB
  • Graphic: Intel UHD Graphics 620
  • Connectivity: HDMI, Mini-DP, Gigabit Lan, 2*USB3.0, 2*USB2.0,
  • WIFI & Bluetooth: 2.4G/5G Wifi B/G/N/AC+bluetooth
  • Size: 113mmx108mmx30mm
  • OS installed: Windows 10 pro and Linux Ubuntu
  • Tablet Lenovo connected as screen via hotspot to control wirelessly the PC (Tablet model Thinkpad8 2GB RAM, 128GB ssd, Processor 1,46Ghz)

Connected devices controled by MRL:

  • 1x USB3.0 Hub 8 ports
  • 1x OAK D-Lite (fixed focus) not yet fully supported in MRL
  • 2x Arduino Mega
  • 2x Nervo Boards
  • 1x Arduino Nano
  • 3x NeoPixel
  • 2x HC-SRC04 sensors
  • 1x PIR sensor
  • 10x finger pressure sensors
  • 2x Hercules webcam
  • 1x USB sound card
  • 1x Logitech H600 headset wireless
  • 2x loud speaker 10watt
  • 1x power supply 6V 60Amps which can be replaced by a 6V12AH battery pack

 

Older configuration:

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, the OTG cable(Charge+Data transfer) is not possible to find according to some users)
  • Jumper EZpad Mini3 Windows 10 8.0 inch 2GB/32GB (no need for otg+charge because of seperate charge and USB3.0) Should fit in the back of the robot.
  • Insignia™ – 8″ – Tablet – 32GB (Some builders reported this tablet to be junk)
  • 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.

#############################################################################

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:

############################################################################

 

Servos in order of my preferences for the hand:

  1. JX PDI-6221MG(20-36kg torque,never burned, 180degree)
  2. JX PDI-6225MG-300(20-36kg torque,never burned, 300degree) for the i2 Hand
  3. HK15298B  (Strong torque 20kg , no noise, c, 90degree)
  4. HK15298    (Strong Torque 15kg, noisy, never burned, 90degree)
  5. MG996R    (Low Torque 10kg, a bit noisy, burn sometimes, 180degree)
  6. MG946R    (Middle Torque 12kg, a bit noisy, burn sometimes,180degree)
  7. 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 maybe can fit:

For the hand:

  • TGY-5521MDHV (24kg 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:

  • JX Servo PDI-HV2060MG (60kg torque 180°fit good)
  • Savöx SV-0235MG (35kg torque, 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)
  • FS6535M (33 kg torque, fit good)
  • Ds5160 SSG (60 kg torque, should fit)

For the eyes:

  • Towerpro SG91
  • TowerPro SG92R
  • JX PDI-1109MG

For stomach:

  • JX Servo PDI-HV2060MG (60kg torque 180°fit good)
  • 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)
  • Ds5160 SSG (60 kg torque, should fit)

Comments 223

  2. hwilliams

    “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 😉

  3. 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?

  4. 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

  5. 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

    • 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.

      • anthony

        Thank you . I understand now the system.
        You make great things that will stay in history for sure.
        My wife is afraid about what the printer is making and children say it’s soon a family member… So your humanoid is a success 🙂

  6. 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.

  10. 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

    • 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…

  11. 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

    • 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!!
      🙂

  12. 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!

    • 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!

  14. Luca

    Hi there!
    Does it exist a tab in MRL to control gestures of all the fingers at the same time (while assembly) without always attaching and de-attaching one from another?

    Thanks

    • 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.

  16. 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.

  19. 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 :~)

    • 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.

  20. 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?

    • 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.

  22. Stephen

    I purchased a Lenovo Miix 2 8 Tablet running Windows 8 since they are way more available. I’ll be adding spacer blocks to adapt the existing back holder. They are 1) 2mm x 8mm x 62mm for the bottom, and 2) 6mm x 8mm x 90mm for the sides.

      • Humanoid

        Hi Gael,
        I am using nervo boards okay and am now installing finger-tip sensors. Is there a little break-out board for the finger sensor wires? I am already using the little hand boards for both hands for the fingers and wrists. The only extra little spare boards I can see in the kit have through-holes for connection to the main nervo board. Is this something we just sort out for ourselves?

  25. 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.

  26. 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.

    • 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

  27. 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.

  28. 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.

    • 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.

  29. 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,

  30. Alessandro Torregiani

    Thks Gael for your great work and disponibility.
    I’ve prepared the hand and forearm for my students (middle school ages 12 to 14).
    Starting from september, if you don’t mind, I’ll propose my students to contact you for some hints and encouragement of course 🙂

  31. 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?

  32. 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 ….

  33. Thomas Höglund

    Hi. Cool project. We are building one in Vaasa, Finland.

    What is the typical power consumption of the whole thing? I calculated that it could draw almost 400W at 6V if all the servos would stall at the same time, but I guess only a small percentage of this is necessary for the power supply. You link to a 300W 6V power supply, but perhaps a smaller one is sufficient? I am installing car fuses as well hoping to protect the servos and battery (which is sometimes used).

    BTW, the “Mini amplifier 6V” link is broken.

  34. Rob P

    Hi All,

    I just wanted to share a lesson learned on tablet selection. I selected the Dell Venue 8 Pro because I can find them at a reasonable price on ebay. Unfortunately it seems difficult, near impossible, to simultaneously charge and connect peripherals to the tablet. There is one suggest hack (link below) however I’m unable to locate the switching cable suggested. I haven’t been able to source the one Gael reference and cannot locate the one apparently release by Dell. Simultaneous charging seems to be a challenge with OTG in the Dell Venue.

    http://www.toddklindt.com/blog/Lists/Posts/Post.aspx?ID=478

    ~~Open to suggestion 🙂

    ~Rob P.

  37. Campus Tecnológico Madrid

    Hi, just a quick question… in the Ribbon cable section, when you say “Shoulder to Arm————————————– ribbon length 0cm”, the 0cm is a mistake? How long should it be?
    Also, the connectors are all female?

    Thanks very much,
    Campus Tecnológico Madrid

  39. javier

    hola a todos,
    estoy en el momento de terminar de imprimir el inmoov (maravilloso proyecto del sr.gael) y necesito ayuda en saber que componentes electrónicos necesito comprar , lo digo por si alguien me puede ayudar.
    un saludo desde España TUNCHIPS info@tunchips.com

    Hello everyone
    I am at the time to finish printing the Inmoov (wonderful project of Mr. Gael) and I need help in knowing that electronic components I need to buy, I say if someone can help me.
    Greetings from Spain TUNCHIPS info@tunchips.com

  41. Robert Holt

    Hi, I have printed and assembled the Head, Torso and Stomach. I have started the right arm (Shoulder is printed) and would like to start putting the electronics together.

    I purchased the “Nervo Boards” and have them assembled and now I am waiting on servos to arrive.

    I would like to go ahead with the Speakers and Sound-board, but the products linked are no longer available. Has anyone found suitable replacements? I assume the speakers mount in the ears (have not seen any detail on this), so I’m sure size is an issue. Not only diameter, but depth as well. How much room do I have to work with? What are the specification on the audio amplifier (i.e. size voltage, mounting)? Where does it mount in the system (again, i have not yet seen any detail on this in the instructions).

    Thanks for the help and thanks for making this an open source project. I am excited about getting mine assembled and working.

    Robert Holt

    • Gael Langevin

      Hello,
      Thanks for reporting this.
      The tutorial needed a little update.
      The HK15298B are the recommended and the pulleys on the servo bed are adapted to those servo restricted rotation.
      Forget the MG995, they burn too easily.

  43. Pingback: InMoov & My Robot Lab for Dummies (part 1) – Scognito's blog
  44. George Ling

    For the Hands and Forearms hardware section, it says that 10 HK15298B servos and 2 MG996r servos are needed in total.
    If I were to only make one hand and forearm (either the right or the left, haven’t decided yet, but not both), would I need half of this quantity, or would I instead need double the quantity to build both?

  47. jameller

    Hello Gael, I’m confused with the servomotor of the head, what is it? I can not find it in Spain …
    The servo of the jaw is a 996r and those of the eyes also have them, I only need the one that turns the head and raise, lower and tilt the head. Thank you.

    • Gael Langevin

      Hello,
      For the jaw you need one HK15298B or some (PDI-6221MG, make sure to get 180°)
      For the Neck and RotHead you need two HS805bb or some PDI-HV2060MG
      For the eyes you need two SG92R or some DS929hv
      For the RollNeck (tilting head sideways) you need two HK15298B or some (PDI-6221MG, make sure to get 180°)

  48. prasket

    Hello Gael and all, for the ribbon we need to order what size? The link above for “Cables” takes you to an Ebay post that offers various sizes and length. i.e. 10, 14, 16, 20, 26, 34, or 40 Way

  49. Joh bard

    hello Gael,

    so you replaced your tablet with the 8th gen cpu mini pc?
    how much voltage does this mini pc requires?

    and for the robot you have 1 power supply for everything except the kinect which has rechargeable batteries?

    great work and thank you

    • Gael Langevin

      I can use both options.
      The tablet alone to control the robot, but in case the yolo object recognition is in use , the tablet lacks a bit of cpu and memory.
      Or I can use the 8th gen mini pc with the tablet as screen.
      -One power supply for the nervo boards (controls the whole robot, main supply)
      -One power supply for the hub
      -One power supply for the 8th gen mini pc
      -One power supply for the Kinect One (if I use the kinect 360, it goes on the main power supply)

  56. Atanley

    Ok,I Have decided to start my robot,I Hope am not too late.

    But am confused a little bit about the BOM,could some one help me an excel file(like all the parts to buy aside the 3d printer and the filaments to print the parts.)
    thanks

  59. S_Knight

    Hi everyone,

    I am working on the head (neck, jaw, eyes, etc.) and I have some RDS3115 servos that I was wondering if I could use for the head area.

    I am also wondering if anyone has used OV7670 cameras for the eyes.

    Thanks

    • Gael Langevin

      Hello,
      I haven’t heard anyone using these servos and camera yet.
      Regarding the servo, compare the sizes with the HK15298B and the position of the gear shaft, to make sure it is similar.
      For the camera you have difficulty using it because of the lens size, which is much too big to set within the eye.

      • S_Knight

        Thank you very much for your quick response.

        In the Inventory spreadsheet, HS805BB servos are described as medium-sized for the head but large elsewhere. Do they come in different sizes? because I could only find one.
        Also, what other alternatives are there for HS805BB for the head?

        • Gael Langevin

          Interesting.
          Somebody shared the spreadsheet, but I never fully over looked at it.
          The HS805BB comes only in large scale servo.
          For the head alternative, you could look for a smaller servo, you will find some printable adapter on Thingiverse in the section InMoov derivatives.

  61. Peter Baines

    Hi Gael,

    I placed an order for a set of Nervo Boards order #10977. Then I read that I needed two sets for a full robot build.

    Can I amend my order and get you payment for the second one before you ship them out please.

    BTW I live in Dept 46 (Lot)

    Cheers Pete.

  64. Moulesh T

    in order to print the head alone, should i print all the parts associated with it or only the parts related to a particular version.. Basically i want to know what does the version number indicate with each part..?

  65. Jarosław

    Cześć Geal wiem, że pewnie ktoś Ciebie o to pytał ale nigdzie nie mogę znaleźć chodzi mi o sprężyny naciągowe do ścięgien czy mógłbyś mi podać kilka linków gdzie dokładnie takie mogę zamówić ? Po za tym wpadłem na pomysł aby zamiast rurek silikonowych użyć rurek antysplątanowa
    https://allegro.pl/oferta/rurka-antysplataniowa-zagieta-z-kretlikiem-cormora-7693112334?utm_source=google&utm_medium=cpc&utm_campaign=_UZSD_pla_sport_turystyka_w%C4%99dkarstwo&ev_adgr=W%C4%99dkarstwo&gclid=CjwKCAjwzJjrBRBvEiwA867byvtafP37tNc0PVofW8dLsYr0bQpXpiW8l6HuoqQsNK9p5eAnJZ6tBxoCuooQAvD_BwE
    można ja łatwo przyciąć do własnych potrzeb

    • Gael Langevin

      Hello, ou can find those springs on ebay. Just make a search like this : spring (13/64″x13/16″)
      In most cases, it will a box with various springs and you can select the correct one in the box.
      I do not know what is anti tangle tube? Can you explain how you are using it?

      • Jarosław

        jest to rurka dla wędkarzy służy do uniemożliwienia splątania się żyłki . Można ją przyciąć do własnych potrzeb odcinając oczywiście na końcu ta agrafkę i krętlik. Dałem link do takiej rurki w poprzednim pytaniu. Co do sprężyn bałem się że zakupując cale pudełko sprężyny nie będą pasować, będą za długie albo będą miały za dużą rozciągliwość

  66. Benjamin B.

    Hey Gael,
    You wrote at the Point ‘Servos in order of my preferences for the hand:’
    that we can use the MG996R Servos for the Hand.
    But they are to high for the Servobed and the wrist.
    Did you use an other Servobed or is that a mistake?

    best regards Ben

  71. Guillermo

    hola soy Guillermo, estoy imprimiendo a inmoov con una impresora casera, estoy en el interior de Bs As , argentina, por lo que no se como vendrá la mano en términos de conseguir las placas y servos, ya que mi situación económica es medio caótica. el objetivo es hacer a inmmov para poder hacerlo en una escuela, gracias! muy bueno el proyecto.

  74. Laurent

    Hello RobotMakers^^
    I’m bothered with the hand springs, I don’t know what to take and the ties don’t work anymore. The reference “extension spring 0.51mm diameter, 1cm length(13/64″x13/16″)” is not very clear. Should the spring be 1 or 2 cm long? And with the buckles, is it 5mm or 0.5 diameter? Thank you very much for your help!

  75. MacGyver

    Hey Gael,
    Since you did your robot, technologies evolved and that’s the reason I’ve lot of questions regarding the actual market and technologies available. 😉
    First for the computer, I see you’re using NUC which is indeed much better now, but then what do you advice? Is a tablet yet you think a good solution or just a screen connected directly to the computer in HDMI or..? Is touch screen function useful you think? Do you have links?
    About the servo, what do you think about this model: DS3218
    https://www.amazon.fr/Waterproof-Aluminium-num%C3%A9rique-asservissement-voiture/dp/B01MR2UILZ
    Could it be alternative to the Hitec805BB? Or would there be a problem with? Size differences issues? Which parameters to care more about?
    For the Kinect, there are new 3D sensors technologies, do you yet recomment the Kinect 1 model? Isn’t the V2 better? What about interface and integration in the actual STL files available of the Chest?
    For the Cameras, do you have newer more powerful and easier to find models we could use? Like the Microsoft Lifecam 5000 or…?
    About Software, I saw new soft for Robots, EZ Builder, I don’t yet know it. What do you advice now regarding soft?
    Thanks

  76. Guillermo

    hola Gael! espero estés bien, mi nombre es Guillermo estuve probando cosas en estos días en my robotlab , antes que nada te felicito por este brillante proyecto, mi idea es empezar a crear un inmmov , de momento llevo bastante impreso y estoy viendo de que manera me hago con los servomotores, soy de Argentina y aquí es todo estrepitosamente caro, de todas maneras tengo la posibilidad de recibir algunas piezas a través una persona en de Madrid, en este sentido te pregunto si se pueden enviar allí las placas nervo , o si con todo lo que ocurre actualmente es imposible, tu dirás , en caso de que puedan mandarlas a Madrid nos pondremos en contacto para ver de que manera lo hacemos, muchas gracias y mas felicitaciones .

    • Gael Langevin

      Hello,
      For some odd reason I didn’t get alerted about your message.
      Sorry for the late response.
      Welcome to you from Argentina, we have some other Argentinian builders in the community.
      The NervoBoards are going to be for sale again around the 20th of May.
      When you place your order make sure to set the the address for shipping to your friend in Spain, this way I will send directly to him.

    • Gael Langevin

      You can find the NervoBoards on the shop, they are to be mounted on a Arduino Mega.
      The Arduino Mega is then controlled by our software. You can look in the Hardware and BOM page for the type of PC ortablet, I am using to control the robot via MyRobotLab software.

  80. Gusta

    Hello there,

    I have a probably dumb question about the servo’s. I ordered 15 or so mg 996r servo’s for the arms. However, for the biceps etc. you guys reccomend the HS805BB’s but they are a bit too expensive for me at this point since i just turned 16 so dont have that much money. Will these from Amazon work similarly? ( https://www.amazon.de/Goolsky-Wasserdichtes-Aluminiumoberteil-Einachsiges-Metallzahnrad/dp/B07FT8S623/ref=pd_sbs_21_4/257-2368255-0138943?_encoding=UTF8&pd_rd_i=B07FT8S623&pd_rd_r=c6b5aefe-74d2-4088-ac98-bf2060cb851d&pd_rd_w=mH8lY&pd_rd_wg=xvLgY&pf_rd_p=42bf0ad8-ce6f-4127-a2f0-106727020a41&pf_rd_r=50DCPCWWM6CBK0Z2T2RZ&psc=1&refRID=50DCPCWWM6CBK0Z2T2RZ ) Or does anyone have another cheap alternative. I have around €25.

    I am going to start building the first hand in a couple days when i finish printing al the parts wish me luck!

  82. Amir Yosefi

    Hi Gael,

    i want to build an Inmoov robot, and it seems like i`m the first one from Israel who is doing that for now.

    The BOM list last update was 2016, any changes in this list?

    Where can i start? i know that all parts can be build separately, but was is the best process/order for doing that?

  83. MacGyver

    Hi, for the Audio ampli, TDA2030A, whatever the power supply I use, I’ve the 50Hz noise perturbating the output and there’s noise on the speaker important. With battery I don’t have this but I wanted to use only power supplies. From the big Power supply 6V too I’ve this. And at the last attempt to use with a 12V DC 1A, the Capa C1 was blowing out quickly. Has someone an alternative or idea to isolate from noise? Thanks.

  84. MacGyver

    Hi, I bought SIP resistor of 100K, 8 pins, but the first question is that on the corresponding boards MdG-RC, the place seems for a 9 pins component…? Then the ones I’ve are isolated, meaning going 2 pins by 2 pins and without a common ground reference, is it ok? Thanks for your lights on this matter 😉

  86. christian soubbotinsky

    Bonjour
    Je suis un ancien mécano en retraite , j’ aime bricoler.
    Je trouve ce site génial , je vais commencé par acheter une imprimante 3 D que pensez vous de cette marque ? (Creality Ender-3 Pro) .
    J’ ai des connaissances en électricité et en micro ce qu’il me manque c’est savoir faire de la programmation mais je ne suis pas inquiet il y a beaucoup de forum pour ca .
    Encore merci pour ce site qui est très passionnant Bravo

    • Gael Langevin

      Bonjour et bienvenue,
      Je ne saurais vous conseiller une imprimante en particulier. Personnellement je prefere les imprimantes a caisson fermees, car elles permettent de maintenir l’impression a une certaine temperature ce qui evite le warping. Surtout avec les impressions en ABS, que je recommande plus que le PLA, meme si c’est plus complique a mettre en oeuvre, car facile a poncer, limer, et coller/reparer a l’acetone.

  91. CityWalk3r

    Hello,

    Are you currently powering the NUC using a battery or a power supply?
    Are you also using a DC to AC converter between the power supply/battery and the NUC? If that’s the case, what are the specs of the converter?

    Thank you in advance,

  92. JHON HILTON ALMANZA CALDERON

    Hola amigo Gael soy un fan tuyo me agrada tu proyecto, soy de Peru y quisiera saber si puedo imprimir las piezas con PLA con mi impresora Ender3pro, mi consulta es con que porcentaje de relleno podria trabajar para imprimir todas las piezas, muchas gracias de antemano, soy aficionado a la robotica y quisiera hacer funcionar el inmoov!!

  93. Grudé Ludwig

    Bonjour j’ai une petite question sur les servos moteur HK15338, sur les résistances a polarité inversée : je les mets ou et quesque je dois mettre ? et pour le potentiomètres quand je le tourne d’un coté mon servo moteur tourne d’un coté et inversement, cependant a peut près au milieu du potentiomètre le servo s’arrête est ce normal ?

    Dans l’attente de vos réponse.

    Merci par avance.

    Ludwig

      • Grudé Ludwig

        Bonjour Gaël, disons que le site c’est dernier temps a beaucoup merder, donc ne t’inquiète pas ce n’est pas grave pour ma part.
        Alors dans le coup j’ai acheter les JX-Servo.
        Mais je rencontre toujours des problèmes car j’essai de faire le biceps et sa rotation, mais je n’arrive pas a faire fonctionner mise a part faire de la casse mdr : quand je fais les branchements et l’active (enable) en faite il s’arrête jamais et va trop loin.

        – Le point zéro du potentiomètre c’est quand le servo moteur s’arrêtes, au moment où il peut changer de sens de rotation, ca représente également le point repos du biceps quand il est pas activé bras en bas “position 5%” (j’ai beau regarder les tutos je ne comprend pas) ?

        Merci par avance.

  95. Chris Edwards

    This is all great and incredible work! And you have done amazing things with the servos and parts that are available on the market.
    In future versions, is there any consideration for using servos that are made for higher-power projects or prosumer uses, such as the MDrive, Clearpath, Dynamixel, or closed-loop stepper/servos (which should have standard NEMA sizes)? Those should deliver more power, which may be useful in the shoulders or torso. And they should provide a stronger and more stable output shaft, and that should provide more stability for the joint.

    I hope to start printing and making one of these robots in the near future. If I get the chance to customize any parts for fitment of those servos, I’ll be happy to share them. And if that aligns with your plans for the project, that would be great.
    Thanks again!

  96. Raegan

    Hello Gael,

    I apologize for my limited English skills. I have a small question. I am currently working on a robot that controls Fingers, Wrists, biceps, omoplate, rotation, and shoulders. Would I only need to use one power supply, two Nervo boards, two Arduino Megas, and the necessary servos? Do I need anything else? Would I need a USB 3.0 Hub with 8 ports and the Lenovo tablet (I intend to control InMoov via my phone)?

    Thank you in advance, and I wish you a wonderful day!

    This message is automatically translated

    • Gael Langevin

      Hello,
      Yes you would need one power supply, two Nervo boards, two Arduino Megas, and the necessary servos. USB 3.0 Hub with 8 ports and a PC (the Lenovo tablet is not available anymore and too old for to support the latest Myrobotlab software.)

  97. KERVOELEN

    bonjour
    bonne anée 2025 merci de m’avoir accepter parmi vous je me lance dans la conception de inMoov je voudrai savoir si je peut investir dans l’achat de deux Arduino R4 wifi Bluetooth pour la conception avez vous une ref pour les hp et les deux camera (alixepress )
    cordialement
    laurent

    • Gael Langevin

      Bonjour et bienvenue,
      Vous trouverez les références de caméra ainsi que les speakers dans la section HEAD AND TORSO de cette page.
      En ce qui concerne la construction de la tête, Il y a désormais la nouvelle version avec peau en silicone, (i2Head) peut-être ne l’aviez vous pas vu. L’arduino R4 wifi n’a pas assez de pins pour supporter tout les servo moteurs necessaires au robot complet. Il faudrait la même chose mais en version Mega Arduino wifi.(x2)

Leave a Reply