hairygael's blog

HelloRobyn to InMoov2.0 attempt [Solved] and [Worky]

hairygael's picture

This is a first test to see if we could get the HelloRobyn script of Markus to work with InMoov2.0



InMoov Nervo Board

hairygael's picture

Leon and Marten from the Nederland did a great job. They had already welded all the components on the board to make it easier for me to mount it on the robot.

Of course the task was heavy because I had to dismantle all what was previously working and that a day before the Paris MakerFaire which was risky...

I had to create new printed sockets to hold all the mini Nervo boards in the various endings.

hairygael's picture

I reviewed the InMoov.Minimal script adapted to 1695 version to work for  more recent version.

So the will work with 1987 version



InMoov abdomen movements explained

hairygael's picture

Getting a correct video is a nightmare with MovieMaker with a old PC running on XP.



Getting a led to blink on InMoov

hairygael's picture

In the stomach pulsing like a heart beat. I would like to add that to the full script on pin30

The casing is designed to receive a NeoRing of Adafruit, I still need to get one though... In the meantime we can use a led!




YoYo actuator

hairygael's picture

Here is what I drew a few weeks ago. I didn't try to built it because I thought I would buy standard linear actuators at a very low price. Turns out the actuators are too slow and if I get faster one the decrease rapidly in torque.

So maybe my drawing will be used after all.

I need a actuator with linear movement of 100mm

a force Nm of about 900 to 1500

The speed should be at least 30 to 40mm/s

Setting up your InMoov to defaults

hairygael's picture

Setting "omoplate" servo and potentiometer to default "Rest" position 10 on a range from 0 to 180

To reach this value you may have to rotate slightly your potentiometer in it's bracket.

When omoplate is at default 10 position there is no gap between these two parts

See video for the omoplate movement:

Second Kinect Test

hairygael's picture


InMoov controlled with it's Kinect. This is the second test with 3 servos powered in each arm. The skeleton on the kinect is very jumpy when my arms are pointing to the robot, which acts on the servos, making the robot shake a bit eraticaly.