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Recapping YamaXes

Hi, is this Nyanyan? Or, coord.e?

Today I want you to know the long history of YamaX.

YamaX 1.0 2.0 2.2 2.3 2.4 3.0 3.2
Height(cm) 20 50~60 30 29 32 35 35
Weight(kg) 0.5 2 1.65 1.85 1.5 1.7 1.7
Number of servos 17 23 21 21 19 19 19
Servos Head:SG90*1

Arm:SG90*3*2

LegSG90*5*2

Head:SG90*3

Arm:SG5010*3*2

Hip:MG996R*2

Leg:MG996R*6*2

Head:SG92R*1

Arm:SG5010*3*2

Hip:MG996R*2

Leg:MG996R*6*2

Head:SG90*1

Arm:SG5010*3*2

Hip:MG996R*2

Leg:MG996R*6*2

Head:SG90*1

Arm:MG90S*3*2

Hip:MG996R*2

Leg:MG996R*5*2

Head:SG90*1

Arm:MG90S*3*2

Hip:MG996R*2

Leg:MG996R*5*2

Head:SG90*1

Arm:MG90S*3*2

Hip:MG996R*2

Leg:MG996R*5*2

CPU Arduino UNO ATmega328P ATmega328P ATmega328P Edison+ATmega328P ESP-WROOM-02 Edison
Motors control Direct with TLC5940 with PCA9685 with PCA9685 with PCA9685 with PCA9685 with PCA9685
Name of boards Arduino UNO Forgot to name… Altra AX-1 AX-02α/β AX-03 Axion 0.9

↑Table which shows all YamaXes↑

*Old blogs are not in English now, sorry. If you want to know, please ask us.

YamaX 1.0(Actual name:YAMAYAMAYAMA2014)

2014/ 9/23 15:00

The beginning of everything

In a morning, Nyanyan brought a big bag(now he brings that every day) to school.

In the bag, there was a robot.

We named this robot, which he suddenly began to make, “YAMAYAMAYAMA2014″ after its battery,”WWW2014.”

And it was difficult to say “YAMAYAMAYAMA2014,” so, YAMAYAMAYAMA->Yama*3->Yamax3->YamaX, this is the name!

This robot could not walk, could not stand!

 

Data

Height:about 20cm

Weight:about 500g

The number of servos:17

CPU:ArduinoUNO controls all servos

YamaX2.0

img_0125

First stand

This robot was made in order to attend the MakerFaireTokyo2015.

It was first for me(Nyanyan) to design a humanoid robot, so it was so difficult…

It was able to stand, but could not walk anymore.

coord.e put the Intel Edison, but we did not use that.

Data

Height:50~60cm

Weight:about 2.0kg

The number of servos:23

CPU:ATmega328P with TLC5940

Blogs about YamaX2.0

YamaX2.2

YamaX2.2

First walk

It was made to exhibit at the school festival.

Actually, we made it walk 100 steps after the school festival, and it did it!

So we made it walk 1000 steps, but at 200 steps, it hit the wall and fell.

We will soon release the movie of this.

I(Nyanyan) put the boards of PCA9685 on the hip, but while its walking, its arms hit the board and connecters of servos came off. I improved this problem in YamaX2.3.

Data

Height:about 30cm

Weight:1.65kg

The number of servos:21

CPU:ATmega328P with PCA9685

Blogs about YamaX2.2

YamaX2.3

best

The best shot of YamaX

Adopting Edison

We adopted the Intel Edison, but it hardly correspond with Arduino, so we seldom used this.

Better body

I first made the proper body. I made a lid, so the board was not bare!

And I made the proper head, too.This head was used until YamaX3.0.This is among my best makings.

The body was made of Aluminum board(maybe A2011).

The legs was reused (I made it for YamaX2.2).

I solved the problem, when the connecters of servos came off, by putting the PCA9685 board in the body.

Data

Height:29cm

Weight:1.82kg

The number of servos:21

CPU:Intel Edison to ATmega328P with PCA9685

Blogs about YamaX2.3

YamaX2.4

dsc_0168 dsc_0238-min dsc_0170

First Voice Recognition

We used the Intel Edison and we succeeded at voice recognition.

But that was a basic one; when we say “Hallo,” it bowed, when we say “Walk,” it walked.

 

More Stable

I made its body bigger, so bigger board could be put.

The arms were corner-cutting to make YamaX lighter.

The head, hip, and legs were almost reused but the hip part(made of MDF board) was made much bigger in order to make it stronger.

And the two servos, which were used at its crotch and were to control pigeon-toed and turned-toed, were not there because I had not ysed that!

This YamaX was entered for GUGEN2015.

 

Data

Height:32cm

Weight:1.5kg

the number of servos:19

CPU:Intel Edison to ATMEGA328P with PCA9685(by coord.e), ATMEGA328P with PCA9685(by Nyanyan)

Blogs about YamaX2.4

YamaX3.0

img_0980

img_0448 img_0509

Adopting a Lid

I made the lid.

It opens from the shoulder, so it was easy to put the board.

And I made the legs changed much, so the physique of it became slender.

 

Adopting the ESP-WROOM-02

We used ESP-WROOM-02 instead of ATMEGA328P, so we was able to control YamaX with WiFi.

PCB

The most important thing is PCB!

img_0062 img_0266_2 img_0429

It cost 10 for 3000 yen by SwitchSciencePCB.

coord.e thinks that this board is the most stable board.

 

Data

Height:35cm

Weight:about 1.7kg

The number of servos:19

CPU:ESP-WROOM-02 to PCA9685

Blogs about YamaX3.0

YamaX3.2

img_1024img_1043

LCD Face

We used the LCD for its face.

The change of hardware was only this.

 

Adopting the Intel Edison

We did not use Arduino but Intel Edison!

We can communicate with YamaX, and the quality became rised!

And, the board changed again, by SwitchSciencePCB.

img_1086 img_1085

img_0959

img_1023
Prototype
img_1034
Old Head…

YamaX3.2 will enter GUGEN2016.

Please push Hoshiine(I want to buy this)!!

 

Data

Height:35cm

Weight:about 1.7kg

The number of servos:19

CPU:Intel Edison with PCA9685

Blogs about YamaX3.2

Feeling…

Thank you for reading!

I realized that YamaX has a long history…

I am happy if this note become information for someone who wants to make humanoid robots.

If you have some questions, ask us!

I am making YamaX3.2 now!

 

Thank you!

 

 

Published in 3D model Arduino Edison GUGEN GUGEN2015 GUGEN2016 Maker Faire Tokyo Maker Faire Tokyo 2015 Y-modify YamaX Servo motor Software Hardware Summary Formulas apologize