What Do I Build Next? Too Many Projects... A Humanoid Robot

Well, again it's been awhile. "What Do I Build Next?" Many projects in the works... a new RasPad, Adaboxes, DIY Otto's, Elegoo's kits, Adafruit's Cricket's, Circuit Python Express', too many items from Amazon and Adafruit's stores-$$$$$, many items purchased and forgotten about, many RaspberryPi boards, too many SD cards, Western Digital PiDrives.., Raspberry Pi Matrix, Google AIY-Vision&Voice, 16/17 DOF Humanoid Robots by Sainsmart & LewanSoul and controllers, and a few KickStarter/Indigogo backed projects-Pine64, mBot Ranger, Pinebook, many IOT items, a new Sonos speaker with Alexa are accumulating in my "Project Room".

My love of making Robots has gotten the best of my discretionary income... no complaints though.

This was by far, my most complicated and time consuming project yet.

Since 2016, I've accumulated enough hardware, components and controllers to build 3 Complete Humanoid Robots, a Biped Walker and two 6 DOF manipulator/arm; a Sainsmart 17 DOF Humanoid kit was assembled in 2016 from scratch purchases "less servos" (MG-995s) and two LewanSoul H3S Humanoid Dancing Robots based kits also "less servos" (LewanSoul LDX-227).

Hardware and components were purchased through EBAY and Amazon and directly from LewanSoul, Robotshop, and Sainsmart. My "Frankenstein's" estimatedly cost $400 or a little more than some kits advertised on EBAY or AMAZON (but I got all hardware and no surprises...also NO instructions, wireless controllers, or electronics).

Be careful, as I wasn't at first, when purchasing via "piece meal/scratch purchases" as many low priced Humanoid Robot Kits do not include ALL hardware to assemble. You'll need servos, screws, nuts, bearings, etc and Servo IO Controller and wireless controllers. Those tiny screws.... alot of them.. 8 per pivot point.

A little hint...AN IMPORTANT ONE...before assembly, be sure to have servos "centered". ( https://www.arduino.cc/en/Reference/ServoWrite) Servos typically sweep/speed 180 degrees or +/- 90 from center with "90" being center (In my case, I had 270 degree servos so its was +/- 135).

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Basic servo centering code example from the Arduino websight:

#include <Servo.h>

Servo myservo;

void setup()

{

myservo.attach(9); // whatever pin you attach on your arduino/controller

myservo.write(90); // set servo to mid-point

}

void loop() {}

---------------------------------------------

I had originally attached a servo horn to each servo and "not recommended" physically turned each through its range of travel to determine its center, but that wasn't precise enough. Later in the build, my power-up and initialization routine had my each of my humanoid's servos twisting and moving in directions that were not even close to where I had envisioned. This resulted in disassembly and repositioning.

There are a few methods and code examples available that will do this. The LewanSoul/Lobot software for one of the three different controllers I purchased had "software coded center points at 1500 microseconds".

Here's another useful code snippet that does same thing:

(https://learn.parallax.com/tutorials/robot/shield-bot/robotics-board-education-shield-arduino/chapter-2-shield-lights-servo-5)

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/* Robotics with the BOE Shield – RightServoStayStill Transmit the center or stay still signal on pin 12 for center adjustment. */

#include <Servo.h> // Include servo library

Servo servoRight; // Declare right servo

void setup() // Built-in initialization block

{

servoRight.attach(12); // Attach right signal to pin 12 servoRight.writeMicroseconds(1500); // 1.5 ms stay still signal

}

void loop() // Main loop auto-repeats

{ // Empty, nothing needs repeating

}

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Looking back, I should have purchased my LewanSoul H3S kits directly from the manufacturer "LewanSoul", their Tech support was fantastic and persistant via email in helping me gather my missing components.

I provided links to many items that a had purchased because not all servo controllers include documentation, software, or software examples. Some controllers were sold by different OEM vendors who "resold" LewanSoul Controllers as their own brand but included a different software offering. I purchased three servo controllers with wireless PS2 controllers that were the same but had different software bundles that would control "their" robot offering...

Part 1: Sainsmart 17 DOF Humanoid Robot- kit purchased from Amazon in 2016!

In 2016, I ordered two of these kits for $99 each on AMAZON, as you can see "No servos, servo controller, wireless remote/PS2 controller, battery, or software. NO Instructions.

(https://s3-ap-northeast-1.amazonaws.com/sain-amzn/20/20-011-111/20-011-111+Assembling+instruction.zip)

I followed these instructions and watched YOUTUBE Videos:

I also bought hardware from Robotshop, (https://www.robotshop.com/en/lynxmotion-aluminum-offset-servo-bracket.html )

Robotshop typical hardware description:NOTE: for medium sized servos• High quality, black anodized aluminum "C" bracket with ball bearings • The offset hinge was made specifically for use in biped robot shoulders• Can also be used anywhere an offset is required• Works great with our Multi-Purpose Servo Bracket or Heavy Duty Servo Hinge (sold separately)• Useful for making your own arms and legs with ball bearings• Fits standard size servo motors• Sold in a 2-pack

I needed servos, but wait...(MG-995s x 16+) servo dimensions and torque specs are not equal....

Robotshop: $11.49 Hi-Tec HS-422 Size: 1.59" x 0.77" x 1.44" •Speed (sec/60o): 0.16•Torque (Kg-cm/Oz-in): 4.1/57•Size (mm): 41 x 20 x 37•Weight (g/oz): 45.5/1.6

Price: $24.99 FREE Shipping on orders over $25—or get FREE Two-Day Shipping with Amazon Prime*MG-995 Item size: 55 x 20 x 38mm*Connector Wire Length 295mm*Gear Type: All Metal Gears*Power Supply: Through External Adapter.*4 x MG995 Servo Sets (with accessories)...

Price: $17.99 Free Shipping on orders over $25---LDX-227 Lewansoul servos: Amazon.com: LewanSoul LDX-227 Full Metal Gear Standard Digital Servo 17kg High Torque Dual Ball... Dimension: 40*20*40.5mm(1.57*0.78*1.59inch)

Price: $89.99 LewanSoul LX-16A Full Metal 17kg High Torque Serial Bus Servo Robotic Servo Debug Board Servo Controller(Pack of 5, Control Angle 240)Weight: 52g(1.8oz)Dimension: 1.78*0.97*1.38inchSpeed: 0.18sec/60°@6V; 0.16sec/60°@7.4VServo accuracy: 0.24°Torque: 15 kg·cm (208 oz·in) @6.6V; 17 kg·cm (236 oz·in) @7.4VMinimum working current: 1AServo ID: 0~253Storage users' parameter setting after power off: support

and the servo mounting hardware from one vendor Sainsmart vs Robotshop are not interchangeable. The MG-995s fit in the Sainsmart hardware but are too tall for the Robotshop pieces. FYI, look up OEM vendor's dimensions for servos and brackets carefully.....

My Robots -WIP, awaiting servo cable extensions and 1/4" cable organizers

Part2: LewanSoul H3S Humanoid Robot- not purchased as a kit

This is picture of finished LewanSouls H3S style unit.

LewanSoul has many assembly videos on YOUTUBE and documentation is good.

My pictures during assembly:

Assembly: Gather and layout all (or most of) required hardware

Arms

Legs and Feet

Torso

Head

Electronics

Cable management- start

Covers-Body

Cable Management-clean up servo leads along limbs while maintaining freedom and range of travel.

Software and Configuration

I used these videos to reference, assemble, and program my two robots using the 32 Channel LewanSoul servo controller.

Lewansoul Robotics-H3S

https://www.youtube.com/playlist?list=PLQYW5Ukp-1D-yF5ssfxIs7cuVW-mQtuhg

Lesson 1 Assembly Video

https://www.youtube.com/watch?v=HZ8WUVnuwGI&index=9&list=PLQYW5Ukp-1D-yF5ssfxIs7cuVW-mQtuhg

Lesson 2 Structural Composition of H3S Robot

https://www.youtube.com/watch?v=DNQOREoJpjk&t=0s&list=PLQYW5Ukp-1D-yF5ssfxIs7cuVW-mQtuhg&index=2

Lesson 3 Introduction of PC software (H3S humanoid robot)

https://www.youtube.com/watch?v=oSb0InrzXDI&index=2&list=PLQYW5Ukp-1D-yF5ssfxIs7cuVW-mQtuhg

Lesson 4 Action Programming (H3S humanoid robot)

https://www.youtube.com/watch?v=9pGfLKPTbhQ&list=PLQYW5Ukp-1D-yF5ssfxIs7cuVW-mQtuhg&index=3

Lesson 5 Introduction of Mobile Phone App(Humanoid robot)

https://www.youtube.com/watch?v=IHFk0_ntBNM&list=PLQYW5Ukp-1D-yF5ssfxIs7cuVW-mQtuhg&index=4

Lesson 6 Quick Walkthrough by using mobile phone app(H3S humanoid)

https://www.youtube.com/watch?v=t0xEkTHS0Ok&list=PLQYW5Ukp-1D-yF5ssfxIs7cuVW-mQtuhg&index=5

Lesson 7 Call the action group through mobile phone

https://www.youtube.com/watch?v=GBToBdxDPoA&index=6&list=PLQYW5Ukp-1D-yF5ssfxIs7cuVW-mQtuhg

Lesson 8 Some Warming tips of humanoid robot

https://www.youtube.com/watch?v=wbVAUogKEcI&index=7&list=PLQYW5Ukp-1D-yF5ssfxIs7cuVW-mQtuhg

Lesson 9

https://www.youtube.com/watch?v=DUYaBnJ-YvY&list=PLQYW5Ukp-1D-yF5ssfxIs7cuVW-mQtuhg&index=8