Sign in to our website and become an InMoov member. It will allow you to post message, pictures, and share with others InMoov builders. It's just one click away!
Username or Email Address
juerg posted an update 6 years, 1 month ago
Tried to create a self levelling hand for InMoov. I use a BNO055 for the pitch/roll recognition and a Arduino Nano for the servo control.
I had to redesign the hand connector to allow for a low friction movements of the strings. I used cutted nails and distance holders for easy movement. I have also redesigned WristLarge to have bumps on the wrist rather then the quick and dirty screw that is currently in place. The rightrobpart2V3 needed also a change to allow for the servo to bend the hand and allow for short and straight string path’s.
Tried to use a wrench servo to have a 180 degree hand rotation but it shows a funny behaviour with direction change. As a single degree change for the servo rotates the hand too much I tried to control the servo with writeMicroseconds(). This works fine when moving in 1 direction, on direction change it however only moves with a big first step resulting in a rather large jiggle on the rotation axis.
I plan to hide the BNO055 in the hand cover, the controller can go next to the servo.
Video is here https://youtu.be/1OOPl9AN4Go
( I still have problems using this posting site and never know what will work and what not 🙂 )
Very nice Juerg!! This looks awesome!
I like the accelerometer effect shown in your video. The place where you have set your servo is a place for to set an extra servo, so I’m glad to see you did good use of that space.
I see you added a piece to mount the rear part of the servo. In one of my previous design the servo was lining sideway at that same spot.
I can see also that you managed the space to let the tendons of the fingers run between the two screws you added between the rotawrist3V2.stl and WristlargeV4.stl.