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![sternomastoid muscles](pinobo/sternomastoid_muscle.png)      ![logo](images/pinobo_logo.png)

PINOBO : A bio-inspired compliant robot
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Exemple de **sobriété robotique** : minimiser les composants mécaniques, électroniques et calculatoires grâce à **l'intelligence bio-inspirée**.

![Full body pinobo](pinobo/pinobobody_small.png) Full body work in progress

Head 1D totally silent version inspired from sternomastoid muscles
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**Disclaimer**: these videos show only the mechanical aspect of the neck. The command system is minimal and purely reactive. We are working on systems which auto-calibrate themselves.

Web interface and accelerometer on tablet

![accelerometer](pinobo/accelero.mp4)

Wireless web interface and object tracking

![object tracking](pinobo/object_tracking.mp4)

Version of Living Machine 2018
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Article: [The Neck of Pinobo, a Low-cost Compliant Robot](https://hal.archives-ouvertes.fr/hal-01891793??lang=en)

Control
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Keyboard control

![video keyboard](pinobo/pinobo_keyboard.mp4)

A sequence of commands for yaw, pitch and roll movements. You can download the corresponding [command sequence](pinobo/sequence_command.tsv) and [sensor records](pinobo/sequence_sensor.tsv). The files contain the values of the yaw, pitch and roll sensors in tab-separated values at the refresh rate of 100Hz with the absolute time in µs as the first column.

![video sequence](pinobo/pinobo_sequence.mp4)

Stabilization
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![video stabilization](pinobo/pinobo_stabilization.mp4)

Compliance
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![video compliance](pinobo/pinobo_compliant.mp4)

![image stallone](pinobo/stalone.jpg)

![video compliance](pinobo/pinobo_compliant_hard.mp4)

Code
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- [Git repository](https://promethe.u-cergy.fr/blaar/pinobo)

Material
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- [ Gimbals 13-23euros](https://fr.rs-online.com/web/p/cardans-universels/7906699)
- [ Raspberry Pi 3 40euros](https://www.materiel.net/micro-pc-raspberry-pi/raspberry-pi-3-type-b-128021.html) [A pi zero 5euros](https://www.kubii.fr/pi-zero-v13/1401-raspberry-pi-zero-v13-kubii-3272496006973.html) should be enough.
- [ IMU I2C 6DOF 9euros](https://www.robotshop.com/eu/fr/accelerometre-gyro-mpu6050-imu-6-dof.html?gclid=CjwKCAjw_47YBRBxEiwAYuKdw_i6NcF2ISpManNOCZCGLDTUyE5GMMCvNtxIuk1MVOFDsierkzMTlxoC2DcQAvD_BwE)
- [Analog to digital converter](http://fr.farnell.com/microchip/mcp3008-i-p/10bit-adc-2-7v-8ch-spi-16dip/dp/1627174)
- [2 Electric Chopper 2x16euros](https://www.robotshop.com/media/files/pdf/datasheet-rob72212p.pdf) Not very efficient, we use now our own system based on a [Darlington transistor](https://www.onsemi.com/pub/Collateral/BDW42-D.PDF) which is simpler, cheapper and faster ( soon the circuit and measures of performance).
- [ 4 Motors 4x4euros](http://www.vdram.com/acatalog/info_MOT2N.html)
- Rolling and potentiometer
- [fishing ring 1,5 euros](http://www.megapeche.com/anneau-de-pointe-de-peche-lineaeffe.html)
- [fishing cord](http://www.giga-peche.com/tresse-fils-peche-carnassiers/1137-power-pro-verte-135-m.html)