John Choi

Hello Boris,Great to hear from you! Yes, we actually used Arduino Standard Firmata to control the arms and legs, because it is very easy to plugin to just about any language communicating via serial and doesn't require you to write a line of code to start.Try it out here: http://firmata.org/wiki/Main_PageAnd some more info here: http://newmediaartist.org/index.php/chapter-6/195-...And here: https://www.instructables.com/id/Arduino-Installin... Hope this helps - good luck! :DCheers,John Choi

Yes, the phone is just for face display. If you don't need a face, the rest of the robot works without a phone :)

Use 4-40 1/2in Imperial Screws. Hope this helps!

Hello Anthony, great to hear from you! Probably, I started out with this thing before building Halley: https://johnchoi313.weebly.com/cory-robot-with-a-h...(No Instructable for this though!)Try out some of these for starters, I think they are what you are looking for:1. https://www.instructables.com/id/A-Phone-Robot-Who...2. https://www.instructables.com/id/BoB-the-BiPed/3. https://www.instructables.com/id/Arduino-Twinky/I hope this helps and good luck!

Hello RoboticsRidoy. The ASPIR anime face is actually just a shell - we're still working on it! In the meantime, feel free to use our older "Halley" robot's eyes here: https://github.com/johnchoi313/Halley-Ambassador-Robot-001/tree/master/Halley%20Robot (You will have to recompile for Android) or use our faces here: http://www.choitek.com/talking-robot-face.html . I hope this helps and let me know if you have any further questions!

Download it here: https://github.com/johnchoi313/Halley-Ambassador-R...

Not at the moment, no - Halley unfortunately cannot walk at this time and the legs are not directly controlled. This is an area I am working on, though it is taking quite some time... (walking and bipedal locomotion is one of the trickiest parts of robotics!)

Arduino by itself does not have a processor powerful enough to handle voice recognition - this would be handled by the Android phone connected to internet. See here for more info: https://developer.android.com/reference/android/sp...I hope this helps! :D

Got it, thanks for the info! I thought the computer generated images look nice and were pretty straightforward (all the laser cut parts fit together without much hassle, and I think it is pretty intuitive where the parts are supposed to go as there are only 4-5 pieces). Thanks again nonetheless and I'll see if I have time to make a few tweaks ;)

Glad the comments section helped ;). Feel free to ask if you have any further questions!

Thanks imr5 - Happy New Year! Working on it :)

Update: with the help of Discovery Channel Canada's Daily Planet, we got some fancy high-quality video of ASPIR's first prototype in action - check it out on page 2 of this Instructable and have a wonderful holiday season!

Not in particular - all the servos are just basic RC hobby servos which can be directly driven by the Arduino + servo shield. You just have to supply enough power and remember which pins you plugged them into :)

Thanks for the feedback! This project basically is a super-size version of the MobBob, but the MobBob will certainly be able to walk better. The Kondo looks like a more refined version of a 2-ft humanoid robot, and I certainly expect it to be more stable due to its smaller stature. Admittedly, ASPIR as it stands is still highly experimental - many, many more improvements need to be made before it is robust enough for any kind of actual practical use. Hope this helps!

Hi Rocketsmith,You are correct - there are provisions for two more shock absorbers in the back of the mid-torso, but these are optional (I ended up only using two shocks in the mid-torso). By the way, thanks for the Thingiverse link! Quite useful if I wanted to make my own shocks in the future :)Cheers,John Choi

Intriguing... The WiFi serial receiver on your Arduino is clever. I do suppose one disadvantage of that is that is must have a WiFi internet access wherever it is stationed?

Hi Igor,Yes, for now we are only using the phone as an eye display. It is plugged into the USB hub, so it'll keep going without running out of batteries. (P.S. Cool project! Thanks for the link!)Cheers,John Choi

In theory, the Arduino Mega 2560 can control up to 48 servos simultaneously. I say in theory because in my actual tests thus far, the Arduino Mega begins to glitch out in really strange ways beginning at 24 servos (Yes, Arduino Mega also supports I2C, if that's they way you want to to do it.) I actually wasn't planning to use the phone camera, only the chest camera (You can certainly add a hole on the face if you want ;)). Hope this helps!

It's going to be really tough, but not impossible ;). I highly encourage you to to try out a few smaller projects like this one first: https://www.instructables.com/id/3d-Printed-WALLET/. That way, once you get into the ASPIR project, you'll know all about the little details and intricacies of 3D printing. Hope this helps! -John C.

Hi Rocket Smith,Thanks for the feedback! I'll probably end up using a mixture of the two (laser + camera facial recognition) to track people and gauge distances (again, everything is really experimental at this stage, so many options are on the table.) I've sent you a PM regarding your request to make a unique head for the robot ;) Happy building!-John Choi

The robot stands 4.3 feet tall at full height :)

Aww, you are too kind! ;)

Whoops! You are right, there are 8 shock absorbers. I've edited the Instructable :)

Thanks! ASPIR actually does have a mouth, but it is a little hard to see. I'll make more visible on my next iteration ;)

Hi frarugi87,Here are the responses to your questions:1. Those are RC shock absorbers. They are needed to support additional weight and lighten the load for the associated servos.2. Through my previous experiments, each 10A power supply can reliably power 10-12 heavy duty servos. There are 33 servos on the robot total. (A single heavier duty 20A-30A power supply should do the trick as well.)3. The initial plan was to have a tethered laptop computer that controls both the phone and the Arduino. (Still working on the software for this! :D)4. She has a webcam, mic, and gyro/accelerometer on the phone in addition to the webcam on the chest. Her hands were designed to be expressive rather than functional, and cannot really grab things well. I haven't coded the walking motion yet, but its a p...

Hi frarugi87,Here are the responses to your questions:1. Those are RC shock absorbers. They are needed to support additional weight and lighten the load for the associated servos.2. Through my previous experiments, each 10A power supply can reliably power 10-12 heavy duty servos. There are 33 servos on the robot total. (A single heavier duty 20A-30A power supply should do the trick as well.)3. The initial plan was to have a tethered laptop computer that controls both the phone and the Arduino. (Still working on the software for this! :D)4. She has a webcam, mic, and gyro/accelerometer on the phone in addition to the webcam on the chest. Her hands were designed to be expressive rather than functional, and cannot really grab things well. I haven't coded the walking motion yet, but its a part of the plan. Right now, the Instructable just covers the hardware, as I'm still working on the software.Hope this helps! :DCheers,John Choi

Thanks for the feedback! I'm actually intrigued - what about the head creeps you out a little?

Working on it! :D

Thank you for the feedback! You got it Cap_med, we'll see what we can do ;)

Thanks for the feedback! I was planning on sticking it to Google Home's SDK at some point. We'll see how close we get to singularity then...

Of course! We'll post an update when the video is ready ;)

Eventually - still working on the software bit. I'll post it when its ready ;)

Working on it!

Thanks power000! I'll be sure to post an update when the software is ready ;)

Nope - unfortunately right now the robot is kind of paraplegic...

My pleasure!

Thanks for the comment! a) Hypothetically, the pivot joints can go the full 180. The outward shoulder motion goes about 45. The upper arm/leg goes up about 90.b) Pretty much nil - the servo's arm load is maximized with what it already has.I'll post more info when our software is ready ;)Cheers,John C.

Thanks TomatoSkins! I'm still working on the software, but when it starts moving, mark my words - it's gonna be awesome! :D

Great News! I've just finished writing Instructables for the bigger, bolder upgraded version of Halley called the ASPIR, a 4.3-ft 3D-printed humanoid robot. Check it out here! https://www.instructables.com/id/ASPIR-Full-Size-3D-Printed-Humanoid-Robot/

Hi DIY robot builders,Just a friendly update, we have finally figured out a manufacturing plan and are ready to roll out 15 of these robots to interested early adopters. If you are interested in trying one of these out, please check out our Kickstarter page here: https://www.kickstarter.com/projects/johnchoi/mega... . Thank you again for your support and have a wonderful summer!Cheers, -John Choi

Hi DIY robot builders, Just a friendly update, we have finally figured out a manufacturing plan and are ready to roll out 15 of these robots to interested early adopters. If you are interested in trying one of these out, please check out our Kickstarter page here: https://www.kickstarter.com/projects/johnchoi/mega... . Thank you again for your support and have a wonderful summer!Cheers, -John Choi

Wow, this is impressive stuff, thanks for sharing! I've checked out your website, and the clothes you put on your robot really makes it look that much cuter.Keep going, and I would love to see how this evolves :)

Thanks MohamedElkhatri! Wait till you see version 2 ;)

An interesting idea. The robot can be made a little shorter to pick things up from the floor. Speech recognition is also definitely something to explore.

Certainly. I'm thinking painting it black,, making the acrylic front plate white and giving it a bow tie :)

Glad to hear! Feel free to use whatever you need and I hope you will learn something useful going over this Instructable. Let me know if you need help with anything and I will be glad to advise :)

The Instructable has been updated. See Step 8 for inclusion of your improved control software. Thanks again and have a wonderful day :)

Wow, this looks awesome, thanks for sharing! I'll be sure to check it out, and by the looks of it, your software seems far better than mine :DMay I include a link to your work as part of this Instructable?