Mini Me - The Mini Humanoid Robot

Imagin being able to controll with your movements a mini version of yourself, well that's what this project is all about.

Feb 25, 2020

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wearables

remote control

robots

Components and supplies

MG90 Servo Motor

Arduino Mega 2560

SG90 Micro-servo motor

Tools and machines

Laser cutter (generic)

Apps and platforms

Arduino IDE

Project description

Code

Code for the exoskeleton

c_cpp

This is the code that goes into the nano in the exoskeleton. It uses the EasyTransfer Library, o make ure you have it istalled.

1#include <EasyTransfer.h>
2
3
4//create object
5EasyTransfer ET;  
6
7struct SEND_DATA_STRUCTURE{
8  //put your variable definitions here for  the data you want to send
9  //THIS MUST BE EXACTLY THE SAME ON THE OTHER ARDUINO
10  int16_t shoulderPot;
11  int16_t elbowRPot;
12  int16_t elbowPot;
13};
14
15//give  a name to the group of data
16SEND_DATA_STRUCTURE mydata;
17
18void setup() {
19  Serial.begin(9600);
20
21  //start the library, pass in the data details and  the name of the serial port. Can be Serial, Serial1, Serial2, etc.
22  ET.begin(details(mydata),  &Serial);
23
24}
25
26void loop() {
27
28  mydata.shoulderPot = analogRead(A0);
29  mydata.elbowRPot = analogRead(A1);
30  mydata.elbowPot = analogRead(A2);
31
32  ET.sendData();
33
34  /*
35  Serial.print(mydata.shoulderPot);
36  Serial.print("  , ");
37  Serial.print(mydata.elbowRPot);
38  Serial.print(" , ");
39  Serial.println(mydata.elbowPot);
40  delay(100);
41  */
42  delay(50);
43}

#include <EasyTransfer.h>


//create object
EasyTransfer ET;  

struct SEND_DATA_STRUCTURE{
  //put your variable definitions here for  the data you want to send
  //THIS MUST BE EXACTLY THE SAME ON THE OTHER ARDUINO
  int16_t shoulderPot;
  int16_t elbowRPot;
  int16_t elbowPot;
};

//give  a name to the group of data
SEND_DATA_STRUCTURE mydata;

void setup() {
  Serial.begin(9600);

  //start the library, pass in the data details and  the name of the serial port. Can be Serial, Serial1, Serial2, etc.
  ET.begin(details(mydata),  &Serial);

}

void loop() {

  mydata.shoulderPot = analogRead(A0);
  mydata.elbowRPot = analogRead(A1);
  mydata.elbowPot = analogRead(A2);

  ET.sendData();

  /*
  Serial.print(mydata.shoulderPot);
  Serial.print("  , ");
  Serial.print(mydata.elbowRPot);
  Serial.print(" , ");
  Serial.println(mydata.elbowPot);
  delay(100);
  */
  delay(50);
}

Testing code

c_cpp

This is the testing code i've beeing using for testing the strength of the servos

1#include <Servo.h>
2
3int pos;
4Servo pinza;
5Servo muneca;
6Servo   codo;
7Servo codoG;
8Servo hombro;
9  
10void setup() {
11  pinza.attach(2);
12   muneca.attach(3);
13  codo.attach(4);
14  codoG.attach(5);
15  hombro.attach(6);
16
17   muneca.write(100);
18  codo.write(30);
19  codoG.write(100);
20  hombro.write(30);
21
22   
23  
24}
25
26void loop() {
27  //pinza
28  for (pos = 130; pos <= 180;   pos += 1) { // goes from 0 degrees to 180 degrees
29    // in steps of 1 degree
30     pinza.write(pos);              // tell servo to go to position in variable 'pos'
31     delay(15);                       // waits 15ms for the servo to reach the position
32   }
33  for (pos = 180; pos >= 130; pos -= 1) { // goes from 180 degrees to 0 degrees
34     pinza.write(pos);              // tell servo to go to position in variable 'pos'
35     delay(15);                       // waits 15ms for the servo to reach the position
36   }
37
38  //muñeca
39  for (pos = 0; pos <= 180; pos += 1) { // goes from 0   degrees to 180 degrees
40    // in steps of 1 degree
41    muneca.write(pos);               // tell servo to go to position in variable 'pos'
42    delay(15);                        // waits 15ms for the servo to reach the position
43  }
44   for (pos = 180; pos >= 0; pos -= 1) { // goes from 180 degrees to 0 degrees
45     muneca.write(pos);              // tell servo to go to position in variable   'pos'
46    delay(15);                       // waits 15ms for the servo to reach   the position
47  }
48  muneca.write(100);
49  
50  //codo
51  for (pos = 0;   pos <= 130; pos += 1) { // goes from 0 degrees to 180 degrees
52    // in steps   of 1 degree
53    codo.write(pos);              // tell servo to go to position   in variable 'pos'
54    delay(15);                       // waits 15ms for the   servo to reach the position
55  }
56  for (pos = 130; pos >= 0; pos -= 1) { //   goes from 180 degrees to 0 degrees
57    codo.write(pos);              // tell   servo to go to position in variable 'pos'
58    delay(15);                       //   waits 15ms for the servo to reach the position
59  }
60  codo.write(30);
61
62   //codoG
63  for (pos = 0; pos <= 180; pos += 1) { // goes from 0 degrees to 180   degrees
64    // in steps of 1 degree
65    codoG.write(pos);              //   tell servo to go to position in variable 'pos'
66    delay(15);                       //   waits 15ms for the servo to reach the position
67  }
68  for (pos = 180; pos >=   0; pos -= 1) { // goes from 180 degrees to 0 degrees
69    codoG.write(pos);              //   tell servo to go to position in variable 'pos'
70    delay(15);                       //   waits 15ms for the servo to reach the position
71  }
72  codoG.write(100);
73
74   //hombro
75  for (pos = 0; pos <= 180; pos += 1) { // goes from 0 degrees to   180 degrees
76    // in steps of 1 degree
77    hombro.write(pos);              //   tell servo to go to position in variable 'pos'
78    delay(15);                       //   waits 15ms for the servo to reach the position
79  }
80  for (pos = 180; pos >=   0; pos -= 1) { // goes from 180 degrees to 0 degrees
81    hombro.write(pos);              //   tell servo to go to position in variable 'pos'
82    delay(15);                       //   waits 15ms for the servo to reach the position
83  }
84  
85  hombro.write(30);
86}

#include <Servo.h>

int pos;
Servo pinza;
Servo muneca;
Servo   codo;
Servo codoG;
Servo hombro;
  
void setup() {
  pinza.attach(2);
   muneca.attach(3);
  codo.attach(4);
  codoG.attach(5);
  hombro.attach(6);

   muneca.write(100);
  codo.write(30);
  codoG.write(100);
  hombro.write(30);

   
  
}

void loop() {
  //pinza
  for (pos = 130; pos <= 180;   pos += 1) { // goes from 0 degrees to 180 degrees
    // in steps of 1 degree
     pinza.write(pos);              // tell servo to go to position in variable 'pos'
     delay(15);                       // waits 15ms for the servo to reach the position
   }
  for (pos = 180; pos >= 130; pos -= 1) { // goes from 180 degrees to 0 degrees
     pinza.write(pos);              // tell servo to go to position in variable 'pos'
     delay(15);                       // waits 15ms for the servo to reach the position
   }

  //muñeca
  for (pos = 0; pos <= 180; pos += 1) { // goes from 0   degrees to 180 degrees
    // in steps of 1 degree
    muneca.write(pos);               // tell servo to go to position in variable 'pos'
    delay(15);                        // waits 15ms for the servo to reach the position
  }
   for (pos = 180; pos >= 0; pos -= 1) { // goes from 180 degrees to 0 degrees
     muneca.write(pos);              // tell servo to go to position in variable   'pos'
    delay(15);                       // waits 15ms for the servo to reach   the position
  }
  muneca.write(100);
  
  //codo
  for (pos = 0;   pos <= 130; pos += 1) { // goes from 0 degrees to 180 degrees
    // in steps   of 1 degree
    codo.write(pos);              // tell servo to go to position   in variable 'pos'
    delay(15);                       // waits 15ms for the   servo to reach the position
  }
  for (pos = 130; pos >= 0; pos -= 1) { //   goes from 180 degrees to 0 degrees
    codo.write(pos);              // tell   servo to go to position in variable 'pos'
    delay(15);                       //   waits 15ms for the servo to reach the position
  }
  codo.write(30);

   //codoG
  for (pos = 0; pos <= 180; pos += 1) { // goes from 0 degrees to 180   degrees
    // in steps of 1 degree
    codoG.write(pos);              //   tell servo to go to position in variable 'pos'
    delay(15);                       //   waits 15ms for the servo to reach the position
  }
  for (pos = 180; pos >=   0; pos -= 1) { // goes from 180 degrees to 0 degrees
    codoG.write(pos);              //   tell servo to go to position in variable 'pos'
    delay(15);                       //   waits 15ms for the servo to reach the position
  }
  codoG.write(100);

   //hombro
  for (pos = 0; pos <= 180; pos += 1) { // goes from 0 degrees to   180 degrees
    // in steps of 1 degree
    hombro.write(pos);              //   tell servo to go to position in variable 'pos'
    delay(15);                       //   waits 15ms for the servo to reach the position
  }
  for (pos = 180; pos >=   0; pos -= 1) { // goes from 180 degrees to 0 degrees
    hombro.write(pos);              //   tell servo to go to position in variable 'pos'
    delay(15);                       //   waits 15ms for the servo to reach the position
  }
  
  hombro.write(30);
}

Code for the exoskeleton

c_cpp

This is the code that goes into the nano in the exoskeleton. It uses the EasyTransfer Library, o make ure you have it istalled.

1#include <EasyTransfer.h>
2
3
4//create object
5EasyTransfer ET;   
6
7struct SEND_DATA_STRUCTURE{
8  //put your variable definitions here for   the data you want to send
9  //THIS MUST BE EXACTLY THE SAME ON THE OTHER ARDUINO
10   int16_t shoulderPot;
11  int16_t elbowRPot;
12  int16_t elbowPot;
13};
14
15//give   a name to the group of data
16SEND_DATA_STRUCTURE mydata;
17
18void setup() {
19   Serial.begin(9600);
20
21  //start the library, pass in the data details and   the name of the serial port. Can be Serial, Serial1, Serial2, etc.
22  ET.begin(details(mydata),   &Serial);
23
24}
25
26void loop() {
27
28  mydata.shoulderPot = analogRead(A0);
29   mydata.elbowRPot = analogRead(A1);
30  mydata.elbowPot = analogRead(A2);
31
32   ET.sendData();
33
34  /*
35  Serial.print(mydata.shoulderPot);
36  Serial.print("   , ");
37  Serial.print(mydata.elbowRPot);
38  Serial.print(" , ");
39  Serial.println(mydata.elbowPot);
40   delay(100);
41  */
42  delay(50);
43}

#include <EasyTransfer.h>


//create object
EasyTransfer ET;   

struct SEND_DATA_STRUCTURE{
  //put your variable definitions here for   the data you want to send
  //THIS MUST BE EXACTLY THE SAME ON THE OTHER ARDUINO
   int16_t shoulderPot;
  int16_t elbowRPot;
  int16_t elbowPot;
};

//give   a name to the group of data
SEND_DATA_STRUCTURE mydata;

void setup() {
   Serial.begin(9600);

  //start the library, pass in the data details and   the name of the serial port. Can be Serial, Serial1, Serial2, etc.
  ET.begin(details(mydata),   &Serial);

}

void loop() {

  mydata.shoulderPot = analogRead(A0);
   mydata.elbowRPot = analogRead(A1);
  mydata.elbowPot = analogRead(A2);

   ET.sendData();

  /*
  Serial.print(mydata.shoulderPot);
  Serial.print("   , ");
  Serial.print(mydata.elbowRPot);
  Serial.print(" , ");
  Serial.println(mydata.elbowPot);
   delay(100);
  */
  delay(50);
}

Exoskeleton code for the robot

c_cpp

This code goe on to the Mega in the robot. It reads the values sent by the other arduino and map it to use them to move the servos. It ues the EasyTranfer library for sending and reciving data, so make sure you have it istalled.

1#include <EasyTransfer.h>
2
3//create object
4EasyTransfer ET; 
5
6struct   RECEIVE_DATA_STRUCTURE{
7  //put your variable definitions here for the data you   want to receive
8  //THIS MUST BE EXACTLY THE SAME ON THE OTHER ARDUINO
9  int16_t   blinks;
10  int16_t pause;
11};
12
13//give a name to the group of data
14RECEIVE_DATA_STRUCTURE   mydata;
15
16void setup(){
17  Serial.begin(9600);
18  //start the library,   pass in the data details and the name of the serial port. Can be Serial, Serial1,   Serial2, etc. 
19  ET.begin(details(mydata), &Serial);
20  
21  pinMode(13, OUTPUT);
22   
23}
24
25void loop(){
26  //check and see if a data packet has come in. 
27   if(ET.receiveData()){
28    //this is how you access the variables. [name of   the group].[variable name]
29    //since we have data, we will blink it out. 
30     for(int i = mydata.blinks; i>0; i--){
31      digitalWrite(13, HIGH);
32      delay(mydata.pause   * 100);
33      digitalWrite(13, LOW);
34      delay(mydata.pause * 100);
35     }
36  }
37  
38  //you should make this delay shorter then your transmit   delay or else messages could be lost
39  delay(250);
40}

#include <EasyTransfer.h>

//create object
EasyTransfer ET; 

struct   RECEIVE_DATA_STRUCTURE{
  //put your variable definitions here for the data you   want to receive
  //THIS MUST BE EXACTLY THE SAME ON THE OTHER ARDUINO
  int16_t   blinks;
  int16_t pause;
};

//give a name to the group of data
RECEIVE_DATA_STRUCTURE   mydata;

void setup(){
  Serial.begin(9600);
  //start the library,   pass in the data details and the name of the serial port. Can be Serial, Serial1,   Serial2, etc. 
  ET.begin(details(mydata), &Serial);
  
  pinMode(13, OUTPUT);
   
}

void loop(){
  //check and see if a data packet has come in. 
   if(ET.receiveData()){
    //this is how you access the variables. [name of   the group].[variable name]
    //since we have data, we will blink it out. 
     for(int i = mydata.blinks; i>0; i--){
      digitalWrite(13, HIGH);
      delay(mydata.pause   * 100);
      digitalWrite(13, LOW);
      delay(mydata.pause * 100);
     }
  }
  
  //you should make this delay shorter then your transmit   delay or else messages could be lost
  delay(250);
}

Testing code

c_cpp

This is the testing code i've beeing using for testing the strength of the servos

1#include <Servo.h>
2
3int pos;
4Servo pinza;
5Servo muneca;
6Servo  codo;
7Servo codoG;
8Servo hombro;
9  
10void setup() {
11  pinza.attach(2);
12  muneca.attach(3);
13  codo.attach(4);
14  codoG.attach(5);
15  hombro.attach(6);
16
17  muneca.write(100);
18  codo.write(30);
19  codoG.write(100);
20  hombro.write(30);
21
22  
23  
24}
25
26void loop() {
27  //pinza
28  for (pos = 130; pos <= 180;  pos += 1) { // goes from 0 degrees to 180 degrees
29    // in steps of 1 degree
30    pinza.write(pos);              // tell servo to go to position in variable 'pos'
31    delay(15);                       // waits 15ms for the servo to reach the position
32  }
33  for (pos = 180; pos >= 130; pos -= 1) { // goes from 180 degrees to 0 degrees
34    pinza.write(pos);              // tell servo to go to position in variable 'pos'
35    delay(15);                       // waits 15ms for the servo to reach the position
36  }
37
38  //muñeca
39  for (pos = 0; pos <= 180; pos += 1) { // goes from 0  degrees to 180 degrees
40    // in steps of 1 degree
41    muneca.write(pos);              // tell servo to go to position in variable 'pos'
42    delay(15);                       // waits 15ms for the servo to reach the position
43  }
44  for (pos = 180; pos >= 0; pos -= 1) { // goes from 180 degrees to 0 degrees
45    muneca.write(pos);              // tell servo to go to position in variable  'pos'
46    delay(15);                       // waits 15ms for the servo to reach  the position
47  }
48  muneca.write(100);
49  
50  //codo
51  for (pos = 0;  pos <= 130; pos += 1) { // goes from 0 degrees to 180 degrees
52    // in steps  of 1 degree
53    codo.write(pos);              // tell servo to go to position  in variable 'pos'
54    delay(15);                       // waits 15ms for the  servo to reach the position
55  }
56  for (pos = 130; pos >= 0; pos -= 1) { //  goes from 180 degrees to 0 degrees
57    codo.write(pos);              // tell  servo to go to position in variable 'pos'
58    delay(15);                       //  waits 15ms for the servo to reach the position
59  }
60  codo.write(30);
61
62  //codoG
63  for (pos = 0; pos <= 180; pos += 1) { // goes from 0 degrees to 180  degrees
64    // in steps of 1 degree
65    codoG.write(pos);              //  tell servo to go to position in variable 'pos'
66    delay(15);                       //  waits 15ms for the servo to reach the position
67  }
68  for (pos = 180; pos >=  0; pos -= 1) { // goes from 180 degrees to 0 degrees
69    codoG.write(pos);              //  tell servo to go to position in variable 'pos'
70    delay(15);                       //  waits 15ms for the servo to reach the position
71  }
72  codoG.write(100);
73
74  //hombro
75  for (pos = 0; pos <= 180; pos += 1) { // goes from 0 degrees to  180 degrees
76    // in steps of 1 degree
77    hombro.write(pos);              //  tell servo to go to position in variable 'pos'
78    delay(15);                       //  waits 15ms for the servo to reach the position
79  }
80  for (pos = 180; pos >=  0; pos -= 1) { // goes from 180 degrees to 0 degrees
81    hombro.write(pos);              //  tell servo to go to position in variable 'pos'
82    delay(15);                       //  waits 15ms for the servo to reach the position
83  }
84  
85  hombro.write(30);
86}

#include <Servo.h>

int pos;
Servo pinza;
Servo muneca;
Servo  codo;
Servo codoG;
Servo hombro;
  
void setup() {
  pinza.attach(2);
  muneca.attach(3);
  codo.attach(4);
  codoG.attach(5);
  hombro.attach(6);

  muneca.write(100);
  codo.write(30);
  codoG.write(100);
  hombro.write(30);

  
  
}

void loop() {
  //pinza
  for (pos = 130; pos <= 180;  pos += 1) { // goes from 0 degrees to 180 degrees
    // in steps of 1 degree
    pinza.write(pos);              // tell servo to go to position in variable 'pos'
    delay(15);                       // waits 15ms for the servo to reach the position
  }
  for (pos = 180; pos >= 130; pos -= 1) { // goes from 180 degrees to 0 degrees
    pinza.write(pos);              // tell servo to go to position in variable 'pos'
    delay(15);                       // waits 15ms for the servo to reach the position
  }

  //muñeca
  for (pos = 0; pos <= 180; pos += 1) { // goes from 0  degrees to 180 degrees
    // in steps of 1 degree
    muneca.write(pos);              // tell servo to go to position in variable 'pos'
    delay(15);                       // waits 15ms for the servo to reach the position
  }
  for (pos = 180; pos >= 0; pos -= 1) { // goes from 180 degrees to 0 degrees
    muneca.write(pos);              // tell servo to go to position in variable  'pos'
    delay(15);                       // waits 15ms for the servo to reach  the position
  }
  muneca.write(100);
  
  //codo
  for (pos = 0;  pos <= 130; pos += 1) { // goes from 0 degrees to 180 degrees
    // in steps  of 1 degree
    codo.write(pos);              // tell servo to go to position  in variable 'pos'
    delay(15);                       // waits 15ms for the  servo to reach the position
  }
  for (pos = 130; pos >= 0; pos -= 1) { //  goes from 180 degrees to 0 degrees
    codo.write(pos);              // tell  servo to go to position in variable 'pos'
    delay(15);                       //  waits 15ms for the servo to reach the position
  }
  codo.write(30);

  //codoG
  for (pos = 0; pos <= 180; pos += 1) { // goes from 0 degrees to 180  degrees
    // in steps of 1 degree
    codoG.write(pos);              //  tell servo to go to position in variable 'pos'
    delay(15);                       //  waits 15ms for the servo to reach the position
  }
  for (pos = 180; pos >=  0; pos -= 1) { // goes from 180 degrees to 0 degrees
    codoG.write(pos);              //  tell servo to go to position in variable 'pos'
    delay(15);                       //  waits 15ms for the servo to reach the position
  }
  codoG.write(100);

  //hombro
  for (pos = 0; pos <= 180; pos += 1) { // goes from 0 degrees to  180 degrees
    // in steps of 1 degree
    hombro.write(pos);              //  tell servo to go to position in variable 'pos'
    delay(15);                       //  waits 15ms for the servo to reach the position
  }
  for (pos = 180; pos >=  0; pos -= 1) { // goes from 180 degrees to 0 degrees
    hombro.write(pos);              //  tell servo to go to position in variable 'pos'
    delay(15);                       //  waits 15ms for the servo to reach the position
  }
  
  hombro.write(30);
}

Exoskeleton code for the robot

c_cpp

1#include <EasyTransfer.h>
2
3//create object
4EasyTransfer ET; 
5
6struct  RECEIVE_DATA_STRUCTURE{
7  //put your variable definitions here for the data you  want to receive
8  //THIS MUST BE EXACTLY THE SAME ON THE OTHER ARDUINO
9  int16_t  blinks;
10  int16_t pause;
11};
12
13//give a name to the group of data
14RECEIVE_DATA_STRUCTURE  mydata;
15
16void setup(){
17  Serial.begin(9600);
18  //start the library,  pass in the data details and the name of the serial port. Can be Serial, Serial1,  Serial2, etc. 
19  ET.begin(details(mydata), &Serial);
20  
21  pinMode(13, OUTPUT);
22  
23}
24
25void loop(){
26  //check and see if a data packet has come in. 
27  if(ET.receiveData()){
28    //this is how you access the variables. [name of  the group].[variable name]
29    //since we have data, we will blink it out. 
30    for(int i = mydata.blinks; i>0; i--){
31      digitalWrite(13, HIGH);
32      delay(mydata.pause  * 100);
33      digitalWrite(13, LOW);
34      delay(mydata.pause * 100);
35    }
36  }
37  
38  //you should make this delay shorter then your transmit  delay or else messages could be lost
39  delay(250);
40}

#include <EasyTransfer.h>

//create object
EasyTransfer ET; 

struct  RECEIVE_DATA_STRUCTURE{
  //put your variable definitions here for the data you  want to receive
  //THIS MUST BE EXACTLY THE SAME ON THE OTHER ARDUINO
  int16_t  blinks;
  int16_t pause;
};

//give a name to the group of data
RECEIVE_DATA_STRUCTURE  mydata;

void setup(){
  Serial.begin(9600);
  //start the library,  pass in the data details and the name of the serial port. Can be Serial, Serial1,  Serial2, etc. 
  ET.begin(details(mydata), &Serial);
  
  pinMode(13, OUTPUT);
  
}

void loop(){
  //check and see if a data packet has come in. 
  if(ET.receiveData()){
    //this is how you access the variables. [name of  the group].[variable name]
    //since we have data, we will blink it out. 
    for(int i = mydata.blinks; i>0; i--){
      digitalWrite(13, HIGH);
      delay(mydata.pause  * 100);
      digitalWrite(13, LOW);
      delay(mydata.pause * 100);
    }
  }
  
  //you should make this delay shorter then your transmit  delay or else messages could be lost
  delay(250);
}

Downloadable files

Latest Mini Me connection diagram

Documentation

Mini Me

The mini me design, all CAD Can be found in my Tinkercad: https://www.tinkercad.com/users/bn0FkXVLAYJ-coolrobotsandstuff

Mini Me

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