Animatronic Walking Macaw

Let's Make Robots Projects Showcase
1

So i started a project a while back and i thought i would share it with you fine people.

I am currently making an animatronic macaw. like those that you see in tiki rooms or at theme parks, however this one walks.
I have been building animatronic birds for a number of years now and the main reason I have chosen birds as my forte is predominantly down to the exquisite movements birds have and it was something I wanted to try and replicate.
They are visually powerfully striking and with the natural ability to perform tasks as well as talk, the macaw is perfect for this. Also they have a skull of which is capable of cranial kinesis, allowing the skull to perform sounds that we perceive as speech.

Normally before I start designing birds I turn to nature to see how biology has worked out the movements. However, with the macaw I noticed that the movements are somewhat joyous and forced rather than natural and fluent. This led me to design and build a mechanical structure that was able to perceive these movements and capture the characteristics of this breed of bird.

The robot offers the following features:
Full eyelid control
Beak control with 2 axis movements
Full head control
The ability to walk on its perch
Talking with synchronized movements
Realfeel fabrication
https://scontent-lht6-1.xx.fbcdn.net/v/t1.0-9/19756586_1614545401891747_1575445899218964602_n.png?oh=dff9f9a03d878fc9b6098885876b7456&oe=5A7FFE80

The design as been a long process and i am now making progress with the production and assembly.
most of the parts have been designed in Blender3d with the aid of Autodesk123d.
https://scontent-lht6-1.xx.fbcdn.net/v/t1.0-9/19961285_1620402447972709_5803045064504411401_n.png?oh=5882a601d16fcbc18d79e4f2b81e52e0&oe=5A7545B5
https://scontent-lht6-1.xx.fbcdn.net/v/t1.0-9/20800228_1654418087904478_7932843204652389270_n.png?oh=aa323fff8e44afdd0f505a4c2fef6040&oe=5A7B34A6
The design incorporates in hoekens mechanical linkage system that creats the walking part while the rest of the mechanical armature is supported above it.
https://scontent-lht6-1.xx.fbcdn.net/v/t1.0-9/22195259_1699756080037345_7050486256766063137_n.jpg?oh=5700e4fc76adcc927e5920fb3b313ac7&oe=5A795836

Sorry for the untidy cables and no post work done on the 3d printed parts.

Also some sculpting had to be done for the feet. these then later on when to be cast in silicone rubber.
https://scontent-lht6-1.xx.fbcdn.net/v/t1.0-9/21768128_1692589907420629_2475956884347190858_n.jpg?oh=1487112551c7ee2a3a8299cf8be5525a&oe=5A6BBCFB
https://scontent-lht6-1.xx.fbcdn.net/v/t31.0-8/22219812_1701516079861345_7130569398270592058_o.jpg?oh=dcf94425762d76659ad133a553527f76&oe=5A6B9C75

I do actually have a crowdfunder going for the project but its not moving fast (or at all for that matter) but i am determined to finish it anyway.
indiegogo.com/projects/animatronic-entertainment-macaw-robot#/

Here are some videos i have processed so far of it working.

2

Hope the Indegogo campaign is successful. Normally rewards include hardware - potentially 3D print (or source) items which people can purchase, or even an assembled kit?

3

yes those options are available. most of the perks are just for certain 3d files for people to print at home. the more the contribution the more of the files you get. there is an option for the complete bottom working kit that includes the rails and hardware. the reason i have done that is because some people have said they have or can get the hardware elsewhere so in doing the way i have it allows people to save money in areas.
I am also giving the final product away for the given price of which does drop each time an additional contribution has been awarded. i only require a certain amount of funds to produce this with a more professional finish and materials and so each time someone contributes to the lower perks i take the final finished product price down to reflect the amount given.

its a very exciting project to do with lots of challenges and opportunity to learn more about how things can be improved. while i am still developing this i am also upgrading improvements to the files as i go so that all is up to date and will become the best it can be.

4

Just wanted to place this here.
It is currently untested as i have not yet connected the rig up however there is no reason for it not to work except that im a novice programmer.

So the gantry (walking parameters) are working an tested but i have not yet tested the macaw body movements.
A little info on the code:
So everything runs randomly.
Time between moves, Positions of servos, etc etc to give a more realistic look.
I have wanted to smooth out the servo movements with variable Bézier Curve Trajectory using a low pass FILTER.
The code will select a random servo value at a random time, then take that value and apply a filter based on a random Bézier Curve value resulting in smoother movements rather than point to point at top speed.

Servo_Value_Smooth = Servo_Value_Smooth * (1.0-Apply_Filter) + Servo_Value * Apply_Filter;

You can take a look here:
github.com/InnerbreedFX/Animatr … de.ino.ino
**
For some reason the Code Wrap isnt working very well for the full code so i wont post it directly to the forum.** :frowning: