오픈소스 휴머노이드
인무브
2012년 프랑스 디자이너 Gaël Langevin이 시작한 실물 크기의 오픈 소스 3D 프린팅 휴머노이드는 취미 RC 서보와 Arduino로 구동되고 MyRobotLab을 운영하며 전 세계 제조업체와 학교에서 재구축되었습니다.
- 유형
- 실물 크기의 인간형(상체)
- 크기
- 1:1 휴먼 스케일
- 서보
- HK15298B, HS805BB, MG996R…
- 컨트롤러
- 2 × Arduino Mega / Intel NUC
- 비용
- 공식 총액 없음
- 구조
- ABS / PLA 인쇄
- 개방형 하드웨어 및 개방형 코드
- 공급업체 링크가 포함된 전체 BOM
- 원본 CAD, 코드 및 논문에 대한 직접 링크
01 — 프로젝트 상세
개요, BOM 및 자료
Overview
InMoov began as a single robotic hand and grew into arms, head, torso, belly and legs. It is designed in Blender, and every part prints on an ordinary desktop printer.
Fingers are tendon-driven; the head has eye, jaw and neck mechanisms; the open-source MyRobotLab handles speech, vision and gestures. It is one of the most common open humanoids in classrooms and exhibitions.
Key specifications
| Servos | Fingers HK15298B, wrist MG996R, shoulder / arm / head / belly Hitec HS805BB, eyes DS929HV |
|---|---|
| Controllers | 2 × Arduino Mega + Nervo Board; newer builds run MyRobotLab on an Intel NUC |
| Sensors | Cameras, OAK-D-Lite, PIR, HC-SR04 ultrasonic, finger pressure sensors |
| Power | 6 V 12 Ah battery or 6 V 60 A power supply |
Bill of materials
The website BOM (2016) prices only some items — about €798 for those — excluding the NUC, cameras and most head/belly servos, so it is not a full-build price.
Download the BOM (.xlsx) · Official BOM ↗
| Part | Model / spec | Qty | Unit | Subtotal | Supplier |
|---|---|---|---|---|---|
| General | |||||
| Arduino Mega | 2 | €40.00 | €80.00 | ||
| Countersunk hex socket bolt | M3x20mm | 50 | |||
| Countersunk hex socket bolt | M4x20mm | 50 | |||
| Countersunk hex socket bolt | M8x100mm | 15 | |||
| Phillips countersunk wood screw | M3x12mm | 100 | |||
| Phillips countersunk wood screw | M4x20mm | 50 | |||
| Hand & forearm (L/R) | |||||
| HK15298B servo | HK15298B | 10 | €18.00 | €180.00 | |
| MG996R servo (wrist rotation) | MG996R | 2 | €11.00 | €22.00 | |
| Braided line / fishing line | 0.8mm, 200LB | 1 | €10.00 | €10.00 | |
| Assorted bolts | 1 | €10.00 | €10.00 | ||
| Natural ABS | 1500 g | 1 | €70.00 | €70.00 | |
| Extension spring | wire 0.51 mm, length 1 cm (13/64″×13/16″) | 10 | |||
| Arm & shoulder (L/R) | |||||
| Hitec HS805BB servo | HS805BB | 8 | €30.00 | €240.00 | |
| Assorted bolts | 1 | €10.00 | €10.00 | ||
| Black / yellow / natural ABS | 1500 g | 1 | €56.00 | €56.00 | |
| Head & torso | |||||
| Hitec HS805BB (head pitch / yaw) | HS805BB | 2 | |||
| HK15298B (jaw) | HK15298B | 1 | |||
| HK15298B (neck tilt, master/slave) | HK15298B | 2 | |||
| DS929hv Corona or similar (eyes) | DS929HV | 2 | |||
| Camera | Hercules HD (stripped) or Microsoft LifeCam 3000 | 1 | |||
| Depth camera | OAK-D-Lite (fixed focus) | 1 | |||
| Natural ABS | about 4 kg | 1 | |||
| Braided line / fishing line | 0.8mm, 200LB | 1 | €5.00 | €5.00 | |
| Assorted bolts | 1 | €10.00 | €10.00 | ||
| Natural ABS | 1500 g | 1 | €70.00 | €70.00 | |
| Battery 6 V 12 Ah + charger 6 V 1.5 A | 1 | €35.00 | €35.00 | ||
| [Alt] power supply 5 V 50 A (adjustable to 6 V) | 1 | fr.aliexpress.com ↗ | |||
| Mini PC speakers | 8Ω | 2 | |||
| Mini amplifier | 10W, 6V | 1 | |||
| PIR motion sensor | retriggered | 1 | |||
| Cables & wires | 1 | ||||
| Belly | |||||
| Hitec HS805BB (upper belly) | HS805BB | 2 | |||
| Hitec HS805BB or HK15338 (mid belly) | HS805BB / HK15338 | 2 | |||
| Latest setup (NUC) | |||||
| Mini PC (NUC) | Intel i7-8550 / 256GB SSD / 32GB RAM | 1 | |||
| USB 3.0 hub | 8-port | 1 | |||
| Nervo Board | 2 | ||||
| Arduino Nano | 1 | ||||
| NeoPixel | 3 | ||||
| Ultrasonic sensor | HC-SR04 | 2 | |||
| Finger pressure sensor | 10 | ||||
| Hercules camera | 2 | ||||
| USB sound card | 1 | ||||
| Wireless headset | Logitech H600 | 1 | |||
| Speakers | 10W | 2 | |||
| Power supply | 6V 60A | 1 | |||
3D printing & fabrication
- The official build uses ABS (≈1.5 kg for hand + forearm, ≈4 kg for head + torso); bond ABS with acetone and PLA with two-part epoxy.
- Most parts at 30% infill, 3 shells, no supports; print wrist gears at the highest quality.
- Download every STL by body part from the official parts library; the wiring diagram (Default Hardware Map) and parts list are on the website too.
CAD, code & papers
Get the large files — CAD, STL, STEP and code — straight from the original project:
- Official website ↗inmoov.fr
- STL parts library ↗inmoov.fr
- Hardware map & BOM ↗inmoov.fr
- Build tutorials ↗inmoov.fr
- MyRobotLab ↗github.com
- InMoov2 service ↗github.com
- Nervo Board ↗inmoov.fr
- Gallery ↗inmoov.fr
License
Parts CC BY-NC; MyRobotLab / InMoov2 code Apache-2.0.
Image credits
- Image 1: Gaël Langevin / inmoov.fr · © the author — source ↗
- Image 2: Gaël Langevin / inmoov.fr · © the author — source ↗
- Image 3: Gaël Langevin / inmoov.fr · © the author — source ↗
- Image 4: Enric · CC BY-SA 4.0 — source ↗
- Image 5: Matti Blume · CC BY-SA 4.0 — source ↗
- Image 6: DanielPenfield · CC BY-SA 4.0 — source ↗
- Image 7: Gaël Langevin / inmoov.fr · © the author — source ↗
- Image 8: Gaël Langevin / inmoov.fr · © the author — source ↗
출처: 이미지 및 데이터: InMoov(Gaël Langevin, inmoov.fr) 및 MyRobotLab. CC BY-NC에 따라 출시된 부품; 사진 © 원저작자. 이 사이트는 원래 프로젝트와 관련이 없습니다.
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02 — 관련 로봇
