Tag: Robotics

Hand-made steam punk inspired robotics from the HipMonsters team.

Maker Fest at Ecole Bilingue in Berkeley

Lutin

The Hip Monsters team was thrilled to be invited to a Maker Fest last week at Ecole Bilingue in Berkeley, CA. Ecole Bilingue is a preschool to eighth grade French immersion school focused on preparing their students to make a positive impact on the world.

We had a wonderful time and it was amazing to see such talented makers and dedicated students. The event had great food (including handmade boba tea), a fun crowd and an exciting lineup of makers. It was a beautiful day in Berkeley which added to the cheer.

Below are just some of the makers at the fest.

Hip Monster’s Robot Freedom

We were there with Number Three of RobotFreedom fame, who got a chance to test out her new legs. We will have a post in a bit on her leg redesign. Te legs worked well and the batteries lasted long than we anticipated.

We also brought our pneumatics demonstration which is an ideal place to start kids (and adults) on robotics.

 

The Sewing Corner 

There was a great sewing section with helpful makers who quickly got even first time sewers make a tote bag.

Here is a finished toto bag! We have already put it to good use storing cat toys.

Magnification Mayhem vs. Resolution Rumble!

George and Janai Southworth from the San Francisco Microscopical Society had a fantastic demonstration of microbiology. They showed how different filters and lightning impacted what could be viewed through the microscope.  Below is a petri dish of bacteria waiting to reveal its secrets.

 

Solar Racing Car

Members of the UC Berkeley CalSol Solar Racing Car were there giving us the inside scoop on their upcoming race in Nashville, TN. Every few years the car is completely redesigned and rebuilt using the most up to date technology. 

 

3-D Print Making

There was 3D printing space with a great collection of designs and examples. And all the designs were coded by kids!

And ere is out favorite design, a 3D printed pink bunny.

Bike Powered Smoothies

The bike powered smoothie machines were steampunk inspired pieces of art. They were designed and made by the talented students at Ecole Bilingue. They also are a great way to make sure you earn those calories in the smoothie. Every household should have one of these!

 

The designs are modified stationary bike with blender connected to the front wheel.

Here are the bikes in action making a smoothie.

 

Painting Robot

They even had a robot making art! It was fun watching the robot as it dutifully created its next masterpiece.

Here is a view of the business end of the painter bot.

 

Space Wars

And last but not least, a RaspberryPi powered game console designed a built by one of the students. The compact design had custom made controllers that allowed for two person games.

The stand was a clever design using a cardboard box as a case neatly cut so it looked.

 

 

Find your inspiration!

Girl Genius Dingbot Robot Part One

Lutin

We decided to finally make an attempt to build a Dingbot robot based on the girl genius web comics.

Please note, this material is provided for informational purposes only and is not a guide on how to create the designs. Please take a look at our disclaimer.

Our design is based on the first BingBot, a small robot similar to a pocket watch. Below is a image of a GirlGeniusOnline Dingbat in action.

As the series continue she create a variety of different BingBots and even Wingbots.

After we have settled on a design on paper we like laying out all the components on our workbench and start visualizing how the pieces fit together and to make sure we have all the parts we need.

We made the design as small as possible but still fit all the electronics including a RaspberryPi Nano. We wanted the design to be a fully functioning computer. The idea was when it is not running about it can be used to play music or video games.

The front and back to the robot are plywood circles that will serve as bases for all the electronics. To make sure the two sides align, we clamped two pieces of plywood together and used coping saw. To smooth out any irregularities, clamped them together again and sanded them repeatedly.

 

We used 2 inch bolts to separate the front and back plates. The is the smallest width that will still be able to hold all of our electronics. After repeated measuring, we drilled the holes while they were still clamped. This assured the bolts would align. Since the bolts are part of the atheistic of the robots it is important to get the positions correct.

We used three nuts and four washers per bolts to acts as spacers. To keep the bolts from loosing we used lock bolts (which can prove difficult to put on) and a pneumatic tubing in between the top and bottom bolts. We have used pneumatic tubing as spacers before in our robot designs and it works great even after years of use.

Once the two plates were secured we cut a strip of plastic to seal the gap. We thought using the side to access the components would be a unique and useful design. Normally, we prefer to have most of the electronics exposed but dingbot has a clean and elegant design. We recommend testing your layout of a sheet of paper first before cutting the holes in the plastic.

After a few trial and error we managed to secure the plastic strip. The first one broke so the second time we heated it with a blow dry to make it more flexible.

Down the center of the robots is a wooden dowel which will server as the spine for the robots.  The legs and arms will both be anchor to the spine.

Here is a bottom view showing the spine.

We are not 100 percent happy with how the plastic strip pops out but we will try applying low heat again and try and mold it into shape.

Although you cannot see them, the design fits a RaspberryPi Nano, two motors, h-bridges, tons of wiring and a battery neatly.

Next step is to design the legs! We are leaning towards a toy robot inspired design.

Happy creating!

First Robotics Competition in SF

Lutin

We had a lot of fun at the First Robotics Competition at St Ignatius College Preparatory in San Francisco CA. We cannot think of a better way to spend the weekend than watching teams of highly skills robotics engineers compete for fame and glory!

Above is a photo the entrance to St Ignatius located in the heart of the Sunset district in San Francisco.

Below is a video showing one set of the robotic competition.

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The goal is for your team to finish as many tasks as possible before the time runs out. Each team has three robots: two that are focused on competing tasks and one that tries to disrupt the other team’s robots. The court is divided in two with each team having one side as their home where they perform their tasks. The tasks are placing the tubes in a slot, throwing a ball and lifting themselves up at the end of the round.


Here is a close up of one of the robots, number 6822. It is amazing to see how many different and creative designs the teams come up with. For example, some receive the tubes from feeding machine while others scoop them up from the floor.

Here is another robot, 7667, waiting to be serviced.

Above is a photo of a typical repair station. Like with the robots, each team has their own layout and collection of tools optimized for their robot’s design. We had serious tool envy as we walked through the pit.

While none of our photos have people, the event was crazy crowded. We made sure to exclude people when taking photos, so missed about half of the teams at the events. Below is a sample of some of the teams there.

The Otter Bots.

The Aztechs from Alameda, California.

And team 846 with the absolute coolest pin dispenser ever!

The Breaker Bots.

The Pirate Robolution!

The Bot-Provoking.

Bora Robotics from Türkiye!

Blue Magpies from Taiwan!

Find your inspiration!

Pneumatic Robotic Arm Workshop

Lutin

This pneumatic robotic arm workshop is design to introduce basic concepts of robotics and making to grade-school students. The design is based on ones used in middle school and high school robotic competitions. We have created a simplified version for one-time workshops with kids of all ages.

Please note, this material is provided for informational purposes only and is not a guide on how to create the designs. Please take a look at our disclaimer.

The two main science concepts are:

  • Leverage: A lever is a simple machine consisting of a bar that pivots on a fixed point (fulcrum). Levers are used to amplify input force. The robotics arm requires placing the syringes in positions that exploit leverage. You can find out more here.
  • Pneumatic:Pneumatic power uses compressed air as an energy source. Basic components of a pneumatic engine are: reservoir, pump, value and cylinder. In this workshop the syringe is the pneumatic engine. Pneumatic power is widely used in robotics and industry. Here is a link for other project ideas. 

Required Supplies:

Each student will require:

  1. x4 syringes
  2. x2 4-inch piece of tubing
  3. 1  4×4 piece of wood
  4. x5 Popsicle sticks
  5. X2 nut and bolts

The photo below is the full-scale model used in high school competitions. It requires 2-3 students to control. One of the Hip Monster sisters built it at a Sacred Heart Robotics Camp in San Francisco, CA.

Here is a side view with the arm down.

The competition involves stacking blocks and the score is based on time it takes to move all the blocks and height of the stack. Controlling the arm is a true team effort with 2-3 students working together to move the arm. The winning design not only requires good engineering but perfect team work. Engineering competitions are ideal ways for kids to develop technical as well as social skills.  Below is a video of the arm in action:

<video of it working>

For our grade school work shop we choose a smaller and simpler design that only required one student to control the robotic arm. You can still have a team competition with two students per robot (one controlling each syringe) if desired.

Below are several views of our simplified design. Instead of zip ties we use rubber bands and tape.

Here is a view from above. This design does not use hot glue and is suited for all ages.

This is another design suited for more advanced students.

Here is a side view showing the placement of the syringe in the middle of the base to provide better range of movement.

In the video below one of the Hip Monster’s sister’s team does a quick build of an arm.

 

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Here are the step by step instructions:

  • Drill a hole in the center of the square plywood which will be the base for your robotic arm.
  • Now push a bolt through the hole and secure it using a nut. The bolt will be the support for your arm.
  • Drill a hole on one end of four popsicle sticks.
  • Use the two popsicle sticks placed on either side of the bolt with the holes on the top.
  • Secure using rubber bands making sure to let it pivot.
  • Secure a syringe to a popsicle stick. This popsicle stick provides leverage helping move the arm.
  • Use rubber bands instead of tape or glue. Rubber bands let the mechanism flex as the pump extends pushing the arm.
  • Attach the piping and connect another syringe.
  • Adjust the two syringes so when you depress one the other extends.
  • Attach one end to the popsicle stick using a rubber band.
  • Next secure the other end to the edge of the base using tape.
  • Slow depress the syringe pump your arm will move!
  • Now attach two popsicle sticks to the top of the arm.
  • Secure with a bolt and nut.
  • Secure the syringe pump to the forearm with rubber bands.
  • Now attach the syringe base to the arm using tape.
  • Connect the other syringe.
Now you pneumatic robotic arm is complete!

To improve performance you can turn your pneumatic robot to a hydraulic powered one by just adding water! You can get more information here.

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Happy Creating! 

Updates to RobotFreedom.AI

Lutin

Since our last update at Maker Faire, we’ve made significant improvements to our robot lineup, focusing on increasing autonomy, human interactions and emotional expression. Core to this is our AI framework, RobotFreedom.AI now available on GitHub.

The design principle for our autonomous AIs ():

  1. Runs completely locally on a RaspberryPi (no third-party API call out)
  2. Has distinctive personalities based on the big 5 personality traits
  3. Learns from interactions (initiated when in sleep mode)
  4. Makes informed decisions based on a knowledge graph
  5. Can carry on a conversation between themselves and with a human

To achieve this we used an Agentic AI framework rather than just tapping direction into a chat bot. By having a core AI that was designed to meet our specifics goals we had more control of its behavior and could also directly see how the AI worked in real-time which provide to be a great educational tool.

One of the key upgrades is the addition of machine learning algorithms, which enable the robots to learn from their interactions and adapt quickly adapt new situations. This allows them to become even more autonomous in their decision-making processes, making them more efficient and effective in completing tasks.

We’ve also made notable strides in expanding the robots’ interactive capabilities, incorporating features such as voice recognition, gesture control, and tactile feedback. These enhancements enable users to engage with the robots on a deeper level, fostering a more immersive and engaging experience.

Some of the specific updates include:

* Advanced sensor arrays for improved navigation and obstacle detection

* Enhanced machine learning algorithms for adaptive decision-making

* Voice recognition and speech-to-text capabilities

* Tactile feedback mechanisms for haptic interaction

These updates have significantly enhanced the robots’ autonomy, interactivity, and overall user experience. We’re excited to continue refining our designs and pushing the boundaries of what’s possible with robotics and AI.

We have been busy working on our next release of our robot software platform

Major features:

  • Robots can coordinate actions using web socket communication
  • Dedicated http server for each robot
  • Added Piper TTS for voice
  • Added Vosk for speech recognition
  • Added Ollama and LangChain for chat bot.
  • Improved random movement generator.
  • Tons of bug fixes
  • Improved debug mode
  • Low memory mode for RaspberryPis 1-3

Tested on OsX and RaspberryPi 1-5.

You can see our Robotic AI platform in action here.

Happy creating!

Arduino Robotic Controller Software Update

Lutin

The RobotFreedom robots are controlled by two code bases. The first runs on a RaspberryPi and is written in Python. You can read more about it here. The second code base controls the movements and lights on the robot. It is written in C and runs on a Arduino. This article will get you started on developing with that code base. You can download it GitHub.

Please note, this material is provided for informational purposes only and is not a guide on how to create the designs. Please take a look at our disclaimer.

The movement controller is designed to be light and simple compared to the main AI code-base and is ideal for a beginner. The focus is to provide an interface for a human or AI to control a robot’s moving components (arms, legs and wheels). We use a Arduino Mega Board because it has a plenty of digital pin to attach our components to. Below is an image of a Arduino Mega board.

Arduino’s can be controlled via serial communication through a USB port or you can code it to run independently. Our robotic walkers are controlled only by an Arduino. This project is intended to be controlled by an AI installed on a RaspberryPi.

The purpose of the program is to receive incoming messages and perform the requested action. For example ‘a’ means raise the left arm. When the program receives an ‘a’ command it sends a command to a H-Bridge which then send power to a linear actuator to raises the left arm.

To start, install the Arduino IDE on your preferred development OS. Linux, OXS and Windows is supported. You can get the code here.

Next, download the required library and copy them to your development folder.

– Adafruit_BusIO
– Adafruit_I2CDevice
– Adafruit-GFX-Library
– FastLED

Launch the Arduino IDE and from the menu bar select:
Sketch>Include Library>Add Zip Library…

Launch the Arduino IDE and from the menu bar select:
Sketch>Include Library>Add Zip Library…

Then point to one of the zip files you have downloaded. Repeat for each required library.

To open the project, double click on the movement_controller.ino file and the Arduino IDE should automatically launch. If it does not launch you can load the sketch by selecting File>Open then navigate to your project file.
Now choose a board type. When you connect your Arduino board it should be auto-detected by the IDE. For some brands you may have to manual select it from the combo box. For off-brand Arduino we recommend searching forums for the best match. Many specify incorrect boards in their descriptions.

Next select >Sketch>Verify Compile. At the bottom of the IDE a console will appear and provide a detailed log. If you missed any libraries you will receive an error message. Loading any required libraries and try again.

Once the code is compiled select sketch>upload to deploy your code.

Below is a list of the components the code can control:

– H-Bridge
– FastLED
– Linear Actuator

The image below is the wiring for the Arduino:

To test select Tools>Serial Monitor from the main menu. At the bottom of the IDE a new tab titled “Serial Monitor” will appear. From this console you can directly communicate with the Arduino.

 In the console window type “5”. You should see a response from the Arduino in the console and if the LED is connected to the Arduino it should turn white and flash in a circular pattern.

Now you can control your own robot!
Happy Creating!

 

Number Nine is Rewired

Lutin

We are learning weight is everything when it comes to good performance from our robots. One of our best jumpers, Number Nine, used splicing connectors that had very useful push handles but were way too heavy for continued use.

Please note, this material is provided for informational purposes only and is not a guide on how to create the designs. Please take a look at our disclaimer.

The old connectors were perfect when we were prototyping designs but once we settled on a wiring diagram it was time to move on to the much lighter push-in designs. The video below is a sped up video of one of the Hip Monster’s sister team (age 13) rewiring Number Nine with the new connector:

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And now for testing! Here is a video of Number Nine is back in action and ready for more upgrade:

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Happy creating!

Gunnerkrigg Court S13

Lutin

When people visit our workshop, the first thing they would see is a big box of parts labeled S13. The HipMonsters sister team use that box for all the leftover pieces when we upgrade our robots (mostly parts from Number Two and Number Three).

The idea for the box came from the online graphic novel series Gunnerkrigg Court, which is one of our all-time favorite works of fiction. This is the mysterious S13 box in Gunnerkrigg Court waiting to be assembled.

This is the one page that sent the Hip Monster’s team on a four year journey to build a robot that could carry on a conversation.

During the Covid pandemic, being able to build your own robot to play with was very appealing to the Hip Monster’s sister team. Gunnerkrigg Court and Girl Genius Online made building robots seem easy. Years later, the whole team now knows that building robots is fun, but also hard and tedious. Our robots can now talk and move on their own, but are still not as good as S13. Given we lack etheric powers (what the supernatural force is called in Gunnerkrigg court) we think we did fairly well.

It was raining over the weekend and we are tired of working on real robots (some of which now talk back at us) so decide to rebuild our first non-work robot from the scraps.

Above is our real-life replication of the assembly of S13. Here in the top left photo we have laid out all of the pieces we found in the box. In the top right photo we are assembling the legs.

The rebranded S13 almost complete.

Gunnerkrigg Count was probably the work of fiction that was the most influential in our decision to build robots. During the pandemic, the adventurous spirit of the two central characters (Annie and Kat) challenged us to push ourselves.

Our emotional AI which controls all our robots is loosely based on S13’s conversation with another robot later in the series about having an ocean of feelings to swim in. When we designed the AI we made sure that at a high level, the code held true to the ocean analogy. Our robots swim in emotions, stimuli, and personality. There is an algorithm that runs deep in the code that lets the robot adjust its behavior given what it experiences.

Here is our very much over used copy of the first volume of Gunnerkrigg Court. We are saving up to buy new hardcover additions.

we hope you find your inspiration.

Fully Autonomous Robots

Lutin

This video is the first time we were able to record two of our robots talking autonomously. While we were building them, they talked to each other all the time, but capturing on film proved harder than we thought. In this video, both robots are listening to what the other robot says and responding with replies generated by a chat bot based on what they hear.  

 

The robots are completely offline and only use open-source software. They are powered by a RaspberryPi and have a local LangChain chat bot (TinyLlama LLM). They use Vosk for speech recognition and Piper to synthesize speech. Vosk does a fairly good job converting the Piper voice (it did not recognize anything spoken using eSpeech). Piper works well most of the time but can miss a few words and freeze up unexpectedly. The pause mid-video is due to one of the robots briefly not being able to speak due to a buffer overflow issue. 

 

We also have distinct personalities and LLM prompts for all our robots, although in this clip they are hard to distinguish. The only thing noticeable is how  one robot moves its arms much more than the other. 

We have four modes:

  • Puppet: a human controls the robot in real-time
  • Scripted: The robot follows a script with minimal autonomous actions
  • Autonomous: The robot responds to outside stimuli on its won
  • Blended AI: the robot has a script but improvises what it says and how it moves.

Moving forward we will have two types of videos, scripted mode and fully autonomous. The puppet mode will use a human created script to control the robots. The fully autonomous films will be the robots talking on their own “off camera”.  

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We are working on releasing the code based used in this video, but it is a bit too rough at this stage. 

Happy creating! 

Maker Faire Bay Area Robot’s View

Lutin

Thanks to everyone who helped this year’s Maker Faire Bay Area be so special! We are looking forward to seeing everyone next year and are already improving our show. Below is a photo our booth before the event started. It is hard to believe over one thousand people visited us over the course three days!  

Maker Faire Bay Area

Want to see how our autonomous robots experienced Maker Faire Bay Area? Check out the video below, generated based on the stimuli, emotions, and actions of HipMonsters’ two robots over the course of three days at the Maker Faire.

The robots recorded the following sensory data:

💙 Noise: A sudden, loud noise. Represented by the color Blue.

💚 Distance: Motion within 1 foot. Represented by the color Green.

🧡 Movement: Motion within 6 feet. Represented by the color Orange.

💛 Speech: The spoken word “robotics”. Represented by the color Gold.

💗 Touch: Contact on the touch sensor. Represented by the color Pink.

🤖 Frequency of Stimuli: How often or rarely the robots received stimuli. Captured by the Movement of the cube.

🔉 Mood: Happy or overstimulated. Reflected in the choice of Sound.

Turn up the volume of the video! It’s not music you’re hearing, but the robots’ moods given the stimuli.

Since we engaged the Touch sensor at the end of each demo, this means we ran 420 complete demos over 3 days. Our robots have been well socialized!

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Happy Creating!