Virtual InMoov Robot ( VinMoov )

Controlling an InMoov Robot in a Virtual environment using Serial data

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This project uses the 3D meshes from the Open source InMoov Robot that have been designed by Sculptor/designer Gael Langevin.
I reworked the Meshes (ie drastically reducing the vertex count) to make a "VinMoov Lite" version and added an internal skeleton which allows for IK (inverse kinematics).
The Virtual InMoov is ported into the Game Logic of the 3D Blender package.
Its controlled using a Parallax Propeller and PySerial setup.

The Serial data is extracted by my Python code script, blender has a native Python compiler built in so makes software control of 3D objects a synch.
On the hardware side its interfaced with 16 ADC channels each wired to a Potentiometer to control the joints.

Next stage is to link the system up to the Open source MyRobotLab software, as this means I can use Kinect and OpenCV routines for interaction.

The neat thing with using Blenders Game Logic interface is that there is Dynamic interaction. This allows you to interact with objects in "Real Time" . So speed, gravity and surface resistance can be tweaked to resemble real life situations.

Here your see me training ViMoov to play 10 Ping Bowling....

  • VinMoov "The Big Calibration"

    chiprobot05/03/2015 at 20:18 0 comments

    Much progress has happened over the last few months.

    The TCP/IP server sockets are now operational (big thanks to GroG), meaning that there is a direct serial link between software and the software Game Engine.

    The job now is to match the Virtual inMoov to the Real inMoov... and that is a time consuming job to say the least... however it is getting very close now as you can see by the latest video posted for your enjoyment below :-

  • "Round Robin"

    chiprobot02/11/2015 at 18:47 0 comments

    Virtual InMoov (VinMoov) meets MyRobotLab
    Begins talking to MyRObotLab
    The system works "Internet Live" using voice commands decoded by the "CleverBot" avatar.
    The commands are relayed to VinMoov's joints running in Blenders game engine.
    This is just a Proof of concept to make the "Round Robin" links.
    Voice>Kinect-microphone>MRL>"the great WWW">CleverBot>MRL>Virtual comms bridge>Pyserial>Blender>VinMoov > visual movements

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  • 1
    Step 1

    This is the control panel I came up with. Its a nest of interlinking 3D printed "Puzzle" bits... which can be easily rearranged to suit your needs.. I have arranged this combination to mimic the position of my arm, so the 5 finger knobs are closest to screen etcetc to the shoulder far right. This allows a more intuitive and quick way to adjust parts of the model with out much fuss.

    If you another use in mind for this type of panel then you will find the STL files

    for both the puzzle bits and knobs over at Thingiverse chiprobot designs

    Each of the potentiometers are fed to individual channels of a 16 channel analogue to digital converter.

    A Parallax Propeller chip access's the 16 analogues and sends them over a Serial link running at 115200 Baud.

    At the other end a PySerial (python serial module) services the data so that the Blender python script can gleam off the received analogue data.

    Blenders Game engine uses this data to rotate targeted virtual limbs, allowing you to move,scale and more importantly rotate them in real time.

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