Building Compliant Robot Grippers - for Events and Education

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It's time to put hands on my performance robots so that they can be operated remotely using the puppeteering rigs and can be made to manipulate items so two people can carry out a robot challenge at events.
I've built two grippers for each robot, and each has a sensor so that they always grip the same tension on the object. This used a spring, magnet and hall effect sensor to detect the tension.
Each robot can be operated with the puppeteering rigs by a human operator, as well as by DMX for operation from accessible interfaces or scripted performances.
Thanks to Matt: / winchymatt
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Former toy designer, current RU-vid maker and general robotics, electrical and mechanical engineer, I’m a fan of doing it yourself and innovation by trial and error. My channel is where I share some of my useful and not-so-useful inventions, designs and maker advice. Iron Man is my go-to cosplay, and 3D printing can solve most issues - broken bolts, missing parts, world hunger, you name it.
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Опубликовано:

15 окт 2024

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Комментарии : 164

@jamesbruton 4 года назад

Patrons and RU-vid Channel Members already have next week's video - that video is the next part of Mini Robot Dog.

@zealreaper418 4 года назад

James Bruton Yey ^~^

@zealreaper418 4 года назад

Eric Lotze it makes me think of Doc Oc

@The_Burber 4 года назад

Make a puppet robot bender

@anthonyradisich8919 4 года назад

Awesome! Now that it has hands, this puppeteering control interface looks like it would be a good fit for the Hacksmith's Power Loader project

@kruleworld 4 года назад

I smell a cross-over possibility...

@symlosis3d756 4 года назад

Now that would be a good collaboration

@Sketchy_Dood 4 года назад

@@kruleworld they’ve crossed over before, if only they crossed over again

@jayzo 4 года назад

The way the Arduino and the MAX485 module fit on that proto-board so nicely is so satisfying.

@andreyrumming6842 4 года назад

James Bruton I have an excellent idea if you are willing to try it! Attach a camera to the head of the puppeteering rigs, then hook it up to a VR headset so you can see exactly what the robot sees. Then, make a suit that can detect roughly where your body is instead of the smaller controller things. That way, it actually feels like you are the robot. Move your hand forwards, and the robot moves it's hand forwards. Might be a bit strange as there would be a small delay between you moving and the robot moving, but it would be super fun I reckon, even if it doesn't have much of a practical use! I would be happy to help with some of the design and code if you like. I completely understand that it would be quite a large project to attempt, but the result would be super fun! Plus, a human-based controller suit could be SUPER handy for other projects later on

@rdoes6696 4 года назад

It would be interesting just to see the view from the robots perspective, especially when you have a crowd staring at it.

@matthewcollier3482 4 года назад

I think the robots can't really move fast enough for it to work very effectively. It would be extremely disorienting to have the robots arm lagging behind yours by quite a bit and I bet it would lead to a lot of nausea. Definitely a cool idea, but I feel like it may not be very possible.

@rdoes6696 4 года назад

@@matthewcollier3482 True. There would be a lot of minuscule timing issues to spend a lot of time on. It would certainly be tricky to accomplish decently.

@spacenoodles5570 4 года назад

If you attach 2 cameras, you can have a 3d view

@tiporari 4 года назад

Latency of limb movements won't cause nausea, only latency of camera movement if the head is moving in relation to headset tracking. You can just create a fixed viewport scaled 180° and move the "player" viewport across the field of view (which is plenty fast). Easy to solve at a slight cost of resolution, which people tolerate just fine.

@nrdesign1991 Год назад

The tension mechanism is super clever. It shows a nice application of the decoupling principle.

@P-Ian 4 года назад

I think it would be a fun challenge, where operators would be in a different room than the robots, controlling them with a POV perspective. Maybe doing something like preparing an easy meal (a sandwitch maybe?) or building something with easy to grip blocks. Either way, those robots look awesome! Can't wait for more videos! :D

@jamesbruton 4 года назад

I'm considering it - "can this robot cook waffles!"

@Cubedex679 4 года назад

If this had a vr headset and a camera in the head Imagine how cool that could be.

@natnat999play 3 года назад

It exist...

@tonysfun 4 года назад

Great job. Now I need plans, STLs.... and your talent! Thanks for sharing!

@thedurangeddrifter3634 4 года назад

I still can believe I've been watching this man since 2014

@gnome_with_the_iron_hands 4 года назад

Brilliant, simple solution for maintaining proper grip pressure! 👍

@paulaslab 4 года назад

Amazing! The two robots look so cool side by side. Thanks for the great videos, truly inspiring!

@jamesbruton 4 года назад

Thanks!

@vale-fr3nt 4 года назад

This is the future... don't stop

@tiporari 4 года назад

I love the puppet rigs. I have always thought this approach would make operating heavy machinery like cranes and excavators much more intuitive and precise to control. Particularly if you incorporate force feedback in the axis. Consider putting the wearer "inside" the puppet rig, and allowing them to control an exosuit as an assistive technology for disabled persons mobility.

@kamperzoid 4 года назад

That's a cool way to do that. So you can even tell have a firm grip or a soft grip on an object. Nicely solved!!

@garagemonkeysan 4 года назад

Nice video. Great engineering and design. Spring tension/hall effects great solution. Mahalo for sharing! : )

@jacobgoldstein6878 4 года назад

Love this project! Maybe have the gripper naturally closed and open with the switch so it’s easier to hold on to things

@BruceHunsaker 4 года назад

Always amazed at what you come up with! Thanks for the inspiration! Now just need to get my 3d printer under wraps.

@plemli 4 года назад

Just don't apply for that remote surgeon vacancy yet !

@Getwright- 4 года назад

These things look like so much fun!

@Innomen 4 года назад

Outstanding! Excellent addition.

@richardward6747 Год назад

Love to see you do a similar build for a "robot wars" thing.. dexterous arms could be quite the advantage in an arena pitting spear against silly power tools on wheels.

@makingitmyway9888 4 года назад

It would be interesting to see the gripper switches changed to something like a linear potentiometer that would allow you to control how open or closed the gripper is. Then you would still have the gripper stop adding gripping force once the hall effect sensor has reached its desired value and at that point it would ignore the value of the linear potentiometer if it were to move in the direction that would command the gripper to grip tighter.

@nilok7 4 года назад

It would be cool if you could turn them into teleoperating robots by giving them binocular vision and allow them to be controlled by a VR system. You would need to "simulate" the robot's body so it doesn't allow any positions that would cause the elbows to crash into the physical body.

@nickyyyyy 4 года назад

This needs VR, for pov object picking mate. Good job

@MrGurkentomate 4 года назад

I was desperately waiting for the robots to shake hands at the end there :D

@marktadgell8885 4 года назад

Great @mattdenton / James Bruton .. seem like great fun ,, 👍🏻

@lynzR04 2 года назад

Nice build

@headrobotics 4 года назад

Way cool - perhaps a good pre-cursor to remote manufacturing

@kruleworld 4 года назад

They use a similar system to do remote surgery...so...

@ZMAC441 4 года назад

Ok time for some fighting robots!! That would be amazing to see you build. Make the joints compliant so they don’t break, then allow people to fight each other with goggles on. Maybe a points system with sensors on the head and body. They could be smaller so they can punch quicker. Just an idea.

@symlosis3d756 4 года назад

Oh man I wish I could do more than just basic programming these look awesome

@edwardstables5153 4 года назад

Just try making stuff, you'll find yourself getting better and better :)

@CuulX 4 года назад

Basic programming is all you need to get started, the more advanced parts are things you learn as you go. You can't wait with doing stuff until you have mastered programming, then you'll never master it. Best way to learn is through actual practice with actual goals and projects. Simple ones that you can complete but are still a bit challenging.

@symlosis3d756 4 года назад

That's true I have an ongoing project in mind with coding but i just seem to struggle getting my head round trying to piece everything into one sketch (I threw myself into the deep end) individually I can work each component in separate sketches which include a motor driver board, leds, Neo pixels, servo and an ir receiver so it should be quite simple

@jakobfriedl3098 4 года назад

concerning springs... u could just use two preassure springs and end poit switches on each side... move the two finges to another till the switch is activated so the springs are "loaded" -> equal force on both sides (sry 4 my english)

@PiefacePete46 4 года назад

Absolutely EXCELLENT!... Forgive me if I don't sign up for teleoperated surgery just yet. :o)

@KacperLaska 4 года назад

Please try to use these for telepresence with VR!

@BruceKenobi 4 года назад

amazing mechanism the one with the spring!!!! Have you thought about building a Suit-up gantry from Iron Man? (doesn't have to be the whole thing!)

@WolfRobotik 3 года назад

This robots look very nice. How many kg it can lift up in each arm?

@reggiep75 4 года назад

I suspect a few hours and gauging the latency of the motors would make someone a pro at that. Maybe some rubber bands or other gripping material around or built into the fingers would assist gripping tasks and challenges too. [incoming message....... *SKYNET IS OBSERVING AND INTERESTED* ]

@nishantsharma4465 4 года назад

These robots are very cool HAPPY HOLI everyone from India

@TheRealFrankWizza 4 года назад

Excellent video.

@nikgourg6909 4 года назад

You are a great 3d disigner

@sergioa.1530 4 года назад

So cool man, that design is very clever 🤙🏼

@eski5195 4 года назад

Awesome robot puppets ! But if I had to make a proposition, that would be to adapt either the robot or it's puppet to each other max angle, I've saw quite a few time the puppet reach angles the robot cannot, maybe you could limit the puppet's movement ? Otherwise, really cool, I'm following that !

@jamesbruton 4 года назад

Yes there are some constrains which are there in an effort to stop the robot destroying itself. I should probably remove those and add pack out the puppeteering rig to stop the limbs colliding.

@BigAdam2050 4 года назад

I think the hands could do with 3 positions, as they look sorta doofy with the fingers just splayed out all the time. So Open, Rest, Closed

@nickbaddorf2673 4 года назад

This is awesome! Could you work on your self balancing robot adding SLAM? Maybe on a raspberry pi and use a camera or lidar? I have been working on adding ROS for slam on my self balancing robot but I am having trouble. It would be awesome if you made a tutorial for that! Thanks, big fan!!!

@taleg1 4 года назад

You should add gripper rubber along the inside of the "fingers" so that they could more easily hold on to things.! Can the robotic arms move up over and down to the box? It looked lie you needed to move the elbow joint further our from the body and then turn the joint sideways almost 90 degrees, it is a stiffer way than we humans move, but if the range of movement is good enough it should be doable. Fun challenge by the way, build on that, just change the test a little to require more of the movement the bots are able to do and add more test and you'd have a fun game at shows and such. One test could be to remove a hat from the bot, then push a button in an award spot, pick up and place the balls, blocks and more.

@joshuadsuper101 4 года назад

This is so so cool.

@veitforabetterworld 4 года назад

FPV would be awesome.

@WistrelChianti 4 года назад

Great explanations and variation of content in this one. Bit of CAD, bit of explanation, bit of demonstration etc. For some reason when I look at those grippers fully open and the rotation... I'm reminded of Maximilian from from The Black Hole.

@NoahZipin 4 года назад

James where do you come up with these designs?? The compliant mechanism is genius!!

@Kiddabob 4 года назад

You should add a POV VR (like a drone style POV with HMD) camera so that when doing stuff like that challenge you can see where the hands are from anywhere you are

@vale-fr3nt 4 года назад

The future of robot fights... #cyberpunk

@rclabbotics5413 4 года назад

I think the problem you both had in the challenge was controlling from the side so your brain is not only learning how to control the arms but controlling them 90deg out of orientation maybe try controlling them from the back =) great video though

@vlady5271 4 года назад

You should try doing that with motion capture with a kinect or something else.

@lolligelore2350 4 года назад

Would it be possible for you to connect the robot with an Motion Capture Suit and VR Glasses?

@PeanutVendor69 4 года назад

Would love to see some James Bruton haptics involved here! Could you do a similar challenge blindfolded?

@jamesbruton 4 года назад

That is something I've thought about, it's hard to do all the sensing and feedback required though

@AerikForager 4 года назад

Next challenge, Teleoperated Robot Jenga!

@Crooked... 4 года назад

Can’t wait to see these ROBOTS in a DAFT PUNK music video! :)

@ben.alexander 4 года назад

Would be amazing if the robots blinked over time or when you held down the grip switch the "eyes" looked like they were focusing

@K1LL-9 4 года назад

James in my country there's not a degree in robotics engineering, what degree de you recommend me?

@bzqp2 4 года назад

I'm wondering where the lag is coming from. Is it coded deliberately to prevent people from ripping the robots apart?

@foldionepapyrus3441 4 года назад

Didn't notice any deliberate pauses in code to slow things down - I expect its just the combination of input lag (it takes some time for puppet rig to read convert and send data) and the decoding and acting on it at the other end. Mostly in that last part as the robot arms do not move all that fast where the little puppet rig can cover the whole range of movement almost instantly, and the robot arms have motion smoothing as well so the acceleration and deceleration will be gradual. Doesn't actually look bad to me though, clearly not 1:1 'real time' matching of the puppets but its pretty swift.

@bzqp2 4 года назад

It looked as if they had a lot of problems doing precise movements at very slow speeds. The filtering must be hitting the inputs quite hard.

@GordonWrigley 4 года назад

Watch the puppet vs the robot, there's a lot of slop in that setup, I think due to acceleration damping and smoothing

@rdoes6696 4 года назад

Yeah the "slop" does detract from the wow-factor.

@matthewcollier3482 4 года назад

I almost don't think slop is necessarily the right word, but it definitely doesn't seem responsive enough

@rdoes6696 4 года назад

@@matthewcollier3482 yes, more like slight delays in actuation time. It is not a sloppy build, just seems to be a little less fluid than one could wish for it to be. But great work nonetheless James Bruton!

@matthewcollier3482 4 года назад

@@rdoes6696 Yeah exactly, it seems quite rigid just that the motion smoothing and stuff is adding enough of a delay that it seems laggy

@666aron 4 года назад

Amazing work. Haptic feedback would be nice for next step.

@WildAnimalChannel 4 года назад

Wouldn't it be easier if you put cameras in the robot eyes, and used VR goggles?

@PhG1961 4 года назад

Great ingenuity !

@mrLuleGameDev 4 года назад

Hi James, i really like your work.. and you should definitely make turn this robots to vr and glove controlled robots. i would like to see that thing comes up.

@benjaminkloosterman290 4 года назад

Correct me if im wrong but isnt the tension in the gripper non linear in relation to the spring due to the way the gripper is jointed?

@jamesbruton 4 года назад

yes, but it still saves strain on the servo

@amirhm64 4 года назад

James how do you keep track of all your projects? what's your system?

@jamesbruton 4 года назад

I use Trello mostly ;-)

@minecraftgman69420 4 года назад

hey what if you put a camera inside the heads so they can be compatiple with a vr headset it would help alot of people

@sharedinventions 4 года назад

Maybe the button should open the hand instead of closing it, thus the hand can be normally closed.

@hydri8248 3 года назад

What is your 3d printer your using is it the taz 6?

@jesseshakarji9241 4 года назад

Should do a cup stacking competition with the robots.

@fahimahmed4025 3 года назад

What software do you use to design your ideas

@erdenebayar8723 4 года назад

bro you are amazing guy

@girgisbekhit3754 4 года назад

Can u make it controlled by human body movements instead of a figure.

@TheHeavyDead420 4 года назад

Woah. Level 2 Of Hacksmith. James.

@World_Theory 4 года назад

Human hands have fingerprints that help grip things. Your robots' fingers' tips are smooth plastic. You were using them to pick up smooth plastic balls.