Hi,
A few weeks ago my son Wouter and I showed you are planning to let InMoov drive around on an OxBoard. It seems to work out pretty well!
1. First we constructed “nice, skinny legs” from pipes and Key Clamps. (See picture 1 below)
Only the ankles are moving forwards and backwards using two servos with pistons. (See picture 2). The actual position is controlled by using the potentiometers outside the servos. (see picture 3)

2. We also constructed a support to keep InMoov on its feet. Ultimately we want to try to keep InMoov on its feet making it balance using one or more Gyros, but that probably will be a hell of a job. (see picture 4)

3. To control the ankles we installed an Xbox controller and used the Uberjoy library and wrote a little script:

import time
leftPort = “COM4”
############################
# Start the InMoov Service
############################
i01 = Runtime.createAndStart(“i01”, “InMoov”)
##############
torso = i01.startTorso(leftPort)
# tweaking the torso settings
torso.midStom.setMinMax(71,91)
torso.lowStom.setMinMax(85,109)
torso.midStom.setRest(81)
torso.lowStom.setRest(97)
i01.moveTorso(90,71,109)
sleep(1)
i01.moveTorso(90,91,85)
sleep(1)
i01.moveTorso(90,81,97)
############################
# Start the Joystick service
############################
uberjoy = Runtime.createAndStart(“uberjoy”, “Joystick”)
# Update this to be your controller
uberjoy.setController(8)
uberjoy.startPolling()
############################
# Attach the joystick to
# the inmoov service servos
############################
uberjoy.map(“ry”, -1, 1, torso.midStom.min, torso.midStom.max)
uberjoy.addRYListener(torso.midStom)
uberjoy.map(“y”, -1, 1, torso.lowStom.min, torso.lowStom.max)
uberjoy.addYListener(torso.lowStom)
4. See the result in the short video in the next post. Driving around is limited because the cables are quit short. (making them longer disturbs the connection between Arduino and servo)

Our next step is to attach our InMoov body on its lower stomach and extend its territory
Best Regards,
Wouter and Jan Janson