Herr Mimik
@ April 30, 2011
- Actuators / output devices: 5 TowerPro SG 5010 and 2 SG 90 till now
- Control method: autonomous
- CPU: Not decided
- Power source: 7.2V 4000mAh RC battery
- Programming language: not decided
- Sensors / input devices: Speech Recognition, Sharp IR
- Target environment: indoor
Herr Mimik is a table robot which consists of a single 5DOF robot hand and an animated head. So far I've built the hand and parts of the head. The hand is also used as a studying object for the MAAHR project.
Construction of the hand
The eyes are vertical and horizontal moveable. A nose will be added, maybe with a CO2 gas detector to detect human breath.
The animated mouth will be something like that.
I did some first experiments with the speakjet chip. The schematic is as following:
The two jumpers are used to change the baud rate by changing the logical states of pin M0/M1 and sending the serial sync character (hex 55, dec 85) at desired baud rate. Around 1400 words in decimal format can be found here. The complete decimal code of one word is composed of:
20, [volume], 21, [speed], 22, [pitch], 23, [bend], [word code].
The volume can have a value of 0-127, the speed a value of 0-127, the pitch a value of 0-255 and the bend a value of 0-15.
@ Mon, 2011-05-02 16:53
Nice Markus
+10 pts for the bird. You could mount this on your car as a new "how am I driving" indicator...
@ Tue, 2011-05-03 01:28
Yes, I designed the nose in
Yes, I designed the nose in honor to your chickens :D
@ Mon, 2011-05-02 12:01
Looks good,
Looks good, http://en.wikipedia.org/wiki/Middle_finger :D
@ Mon, 2011-05-02 08:56
well done but I think the
well done but I think the springs need to be stronger and less elastic!
@ Mon, 2011-05-02 16:40
I had the same thought. If
I had the same thought. If you could find springs that were a little stronger, but still allow the servos to overcome their pull, the robot's fingers would extend more completely.
The hand is looking truely excellent!
@ Tue, 2011-05-03 01:31
Hi IG,The springs need to be
Hi IG,
The springs need to be a little bit stronger and I need to do some adjustments. Just used ball pen springs, because I had nothing else around.
@ Mon, 2011-05-02 02:29
(No subject)
@ Mon, 2011-05-02 04:23
LOL, that's funny! Thanks,
LOL, that's funny! Thanks, JAX!
@ Sun, 2011-05-01 13:38
Looks interesting Markus.
Looks interesting Markus. The first version of the polymorph hand was very similar. You will soon discover that the thumb is not much use in the current configuration. As you can see in the photo bellow I had to add a diagonal joint to allow the thumb to move more like our hand.
This allowed the thumb to become opposable so the hand can grip objects like we do. The polymorph is perfect for this sort of prototyping as I could create a new joint simply by running a hot soldering iron through it and removing the excess polymorph.
I like your eyes. Do you plan to fit them with sensors?
@ Sun, 2011-05-01 14:12
Thump up!
The hand is more for hand gestures constructed than for grabbing things. The fore finger and the thumb can touch each other. It looks a little bit handicapped but it is possible to hold even very small things. I plan to let the robot solve small calculations. If I say for example "2 plus 1", the hand shows 3. I plan several sensors, also for the eyes. Hope I can post a video of the hand in action tomorrow. Just cut its nose!
PS: How many times can you bent a polymorph joint till it breaks? Do not have any experience with polymorph btw.