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PAHAB - The human size robot

shutinc
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shutinc

shutinc

Posted
Posted

Hello everyone!

Some of you might have seen this already from my "hello"-post, but for the rest of you, here it is

Quote from the OP:

I came out of the dark age when I got a LEGO mindstorms NXT set from my girlfriend to my birthday back in 2008. At first I was just building cars that could avoid obstacles and I was mostly getting to know the technic bricks and the NXT gear.

After a while I decided to make a humanoid robot. It started with a head, then the torso and arms and after almost two years I finally had a 173 cm tall robot (PAHAB) with legs.

The Mindstorms unit controls the head (eyes, mouth and neck). It has two programs in one, that use variables so they won't fire simutanously. The first program is listening for sounds over 90 dB. If it detects anything, it will make the robot scream (mouth go up and down). He will then turn his neck and eyes to either side and in the end center and say "aha" (like he understands that it was just him being skiddish :P ).

The second program utilizes the US-sensors on the torso to look for obstacles. If it detects anything on either side, its eyes will move to that side and it will say which side is blocked. If both sensors are blocked, then it will simply just say "obstacle" and the eyes will remain centered.

As for time spent building, I must admit this has taken quite a while. Actually somewhere around two years, with building breaks counted in for. The thing is collossal, and has more than 30,000 pieces (I lost count after a while, but roughly 30,000 from going trough my bricklink orders).

As for the arms. They are remotely controlled using PowerFunction IR-sensors. The plan was to buy an IR-link and let the Mindstorm unit control the arms aswell, but I haven't got around to buy one yet.

Anyway - hope you enjoy!

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JopieK

JopieK

Posted
Posted

well, a good word to describe this robot would be 'insane' I guess, and then in the positive way ;)

Very very nice and astonishing! I'm sure it well get you a frontpage notice right away.

Keep on building robots ;)

Piratedave84

Piratedave84

Posted
Posted

*oh2*

OMG .... I'm not sure what to say here ...

This is impressive, not to say the least!

I don't think there are any grey technic bars left on bricklink LOL

If you ever get around to it, a video of the functions would be pretty awesome.

Keep up the good excellent work!

Pirate

Blakbird

Blakbird

Posted
Posted

Besides all of the other adjectives and expletives which clearly apply, I have to point out that is the largest number of Technic pin holes I have ever seen a model. I bet the wind blows right through this guy!

I'd love to see some videos of his motion. I'd be especially interested in how the motors cope with the stress of the cantilevered arms.

Do the legs move (poseable) or do they just support the torso?

Big Cam

Big Cam

Posted
Posted

Um, wow. I don't even know what to say. I'm not a big technic guy so I don't know all the right questions to ask.

But as a fan of everything cool, do you have a video of it working?

DLuders

DLuders

Posted
Posted (edited)

There is a bit more information about the PAHAB robot on the Lego Mindstorms NXTLog website. Daniel Gran (a.k.a. shutinc) is the creator, and he posted 9 pictures and a short description on MOCpages:

"About this creation -- This is my attempt to make a full size humanoid robot combining the LEGO Mindstorms NXT and Power Functions using the IR-link sensor. I call it PAHAB, as it stands for Partially Autonomous Humanoid Android Bot. I started this project a while back (october 2008). It weighs approx. 60 lbs and consists of about 30,000 parts and pieces."

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There are a few pictures of PAHAB next to a real human on Phoenix's Brickshelf gallery:

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Edited by DLuders
shutinc

shutinc

Posted
  • Author
Posted (edited)

Many thanks for your wonderful comments, everyone! They are much appreciated!

well, a good word to describe this robot would be 'insane' I guess, and then in the positive way ;)

Very very nice and astonishing! I'm sure it well get you a frontpage notice right away.

Keep on building robots ;)

Wow, thanks :) I'm trying to be modest, but I wouldn't say no to have PAHAB on the frontpage.

I don't think there are any grey technic bars left on bricklink LOL

If you ever get around to it, a video of the functions would be pretty awesome.

Keep up the good excellent work!

Thanks much! I must admit I had a hard time to get enough of the parts I needed, and I also noticed a decline in stock after a while ;)

A video will definetely be posted in the near future.

I'd be especially interested in how the motors cope with the stress of the cantilevered arms.

Do the legs move (poseable) or do they just support the torso?

Well, to put it blunt. The motors aren't coping very well. Even after gearing them down a lot, the motors are still being stressed. But - the arms are functional :classic:

The legs supports the whole structure and the torso is resting on a gear system including four technic turntables. I first thought this to be impossible, but it maintains a pretty good balance. Even with all that weight. And yes, it stands by itself without any support from brackets or wall/roof attachment.

Only the knees are motorized and utilizes two linear accurators on both knees.

Edited by shutinc
prateek

prateek

Posted
Posted

Um, wow. I don't even know what to say. I'm not a big technic guy so I don't know all the right questions to ask.

But as a fan of everything cool, do you have a video of it working?

Agreed. Can it move? If so, video!

eMHa

eMHa

Posted
Posted

One word: huge!

I wouldn't have thought it is possible to build a humanoid robot in human size with LEGO! But you proved me wrong. Wow!

I like this "little" fellow and a video of the functions would be fantastic.

shutinc

shutinc

Posted
  • Author
Posted

wow thats just amazing. and a video would be awesome. well done. :classic:

one question: is the torso solid or is it hollow?

Thanks much! :classic:

To your question . . . the answer is both yes and no. It has a structure inside to stiffen it up and the technic bricks are built around it in a layer like setup. It's not hollow, but it has empty spaces inside. Don't know if that answered your question very well, but hope you understand what I mean.

apemax

apemax

Posted
Posted

Thanks much! :classic:

To your question . . . the answer is both yes and no. It has a structure inside to stiffen it up and the technic bricks are built around it in a layer like setup. It's not hollow, but it has empty spaces inside. Don't know if that answered your question very well, but hope you understand what I mean.

ahh I see. thanks. :thumbup:

Walter Kovacs

Walter Kovacs

Posted
Posted

Wow! Wait, where's the appropriate emoticon?

*oh2*

There it is. This is absolutely amazing. Now I know why I can never find any gray technic linkarms on BL. I'm amazed that any LEGO motor can move the arms or legs, with as much as those must weigh. If I go on, I fear I'll overrun my "gush" limit for the week.

That human is actually me :laugh:

Holding Toa Mahri Matoro. Nice!

shutinc

shutinc

Posted
  • Author
Posted

I'm amazed that any LEGO motor can move the arms or legs, with as much as those must weigh. If I go on, I fear I'll overrun my "gush" limit for the week.

Holding Toa Mahri Matoro. Nice!

Thanks much!

It's amazing how much these motors can handle once you gear them down lot, and the torque can sometimes be so great that technic liftarms and axles bend or even break.

Wow, how on earth were you able to tell what I was holding on that picture? I can barely see it myself nor remember what it was :laugh:

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