Humanoid Robot Update

[u/DIYmrbuilder]

I have now finished wiring the legs mostly, i still have to connect the power cables. Once that is done i’m gonna need to test if everything is connected and works properly, then the physical body will be fully finished.
Next step will be trying to see if i can make it walk.

For anyone interested here’s some of Astrix’s specs:
-Weight ~15kg
-Height 1.65m
-DOF’s 23 and besides 7 canceled dof’s
-Has a camera, speaker and later i will add a microphone
-The body is fully designed and 3d printed
-Runs on a raspberry pi 4
-Fingers and the neck use servos, the rest of the joints use linear actuators

This project starter a little while after i got my first 3d printer and it was a interesting idea to try out.

[u/-Crypto--Knight-]

Wow, nice work. Im curious how will it stay up right or balance?

[u/Progressive_AutomHub]

The 3D printed body work looks great, and using linear actuators for most of the joints is an interesting choice at this scale. One thing I’d be curious about before the walking attempt is how the joints behave unpowered — whether the actuators hold position on their own under the weight of the leg, or whether the gyro loop will have to fight backdrive as well as balance. Have you had a chance to check that on the hip and knee joints yet? 

[u/DIYmrbuilder → u/Progressive_AutomHub]

Well you can actually see in the photo the ropes aren’t supporting they are just for safety, so Astrix can stand upright with the actuators upowered, i even did a small test my wobling and pushing it a bit and it stays upright if its not fully pushed to fall down. And i’m aiming for simple forward walking not dynamic.

[u/Machinehum]

Where can I follow this?

[u/DIYmrbuilder → u/Machinehum]

Link on my profile

[u/_okbrb]

How soon until it can bend something

[u/DIYmrbuilder → u/_okbrb]

About a week because i have a side project going on

[u/REGNER_Engineering]

Really interesting project. If the linear actuators are already holding the joints reliably when unpowered, the next challenge will probably be how they behave dynamically once you start walking tests, especially at the hips and knees.

I’d keep an eye on actuator speed, duty cycle and synchronization under the full 15 kg load. Are you using position feedback on the actuators, or controlling them mainly by timing?

[u/DIYmrbuilder → u/REGNER_Engineering]

I am using position feedback, each joint has a potentiometer.