• Body motion & arm IK

    Tanguy • 12/16/2025 at 10:16 • 0 comments

    I have made great progress this last week: added body joints (2 DoF) and articulated ears (2 DoF each) to display emotion and make it more expressive.

    In total, robot now has 17 DoF: body 2, neck 3, ears 2 × 2, arms 5 × 2. I had to upgrade the power supply to manage that.

    On the software side, the arm IK is starting to give promising results (it can move the arm just by using x, y, z coordinates).

  • Arm Movement and Strange Eyes

    Tanguy • 07/21/2025 at 10:34 • 0 comments

  • New build !

    Tanguy • 06/24/2025 at 09:46 • 0 comments

  • New Shoulder Design

    Tanguy • 06/20/2025 at 01:43 • 0 comments

    After some testing, I wasn't satisfied with the range of motion of the current shoulder (couldn't lift the arm high enough). So, I reworked the 3D design. Here's what the new version looks like.

    I also embedded more bearings into the 3D-printed parts, to better support weight.

  • It now has a head! (Kinda.)

    Tanguy • 06/04/2025 at 09:08 • 0 comments

    In the past, I’ve created a variant of this robot head project: https://hackaday.io/project/185066-robot-buddy. Instead of using an LED matrix, it uses an old phone as the display.

    So I've added it to this robot.

    (I plan to open-source the “face” app, but it needs a lot of cleanup first.)




  • Remote test wifi

    Tanguy • 06/02/2025 at 15:29 • 0 comments

  • Arm Remote

    Tanguy • 05/22/2025 at 10:25 • 0 comments

    The potentiometers are attached in the same orientation as the arm’s axes.

  • Remote Control

    Tanguy • 05/20/2025 at 16:53 • 0 comments

    This will be difficult to control in a human-friendly way, so I’m experimenting with ADS115 modules (analog to I2C input) to see if I can build a puppet-style remote using potentiometers to control the arms.

  • Motion Test

    Tanguy • 05/18/2025 at 09:12 • 0 comments

    I'm very impressed by how well the 80/60kg servos are handling this weight. I was honestly expecting some kind of horrible motion—either super slow or really wobbly—but it actually moves pretty well!

  • Two arms!

    Tanguy • 05/17/2025 at 09:29 • 0 comments

    (Yes, it's an old monitor stand)