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The most complete of the #anthropomimetic humanoid torsos the ECCERobot Design Study, EDS.

This #robot was handcrafted in polymorph plastic (aka Friendly Plastic) with extensive reference to anatomical textbooks, dissection videos and sport training manuals.

The robot features gliding shoulder blades with PTFE lined ball and socket joints and an accurate collar bone arrangement.

Actuation is by gear-motors extracted from #low-cost electric screwdrivers. The tendons are contracted simply by winding on to the output shaft.

For each gear-motor a ten-turn potentiometer is fitted to the output shaft to provide position feedback. The motors are driven by modified RC controllers configured with a symmetrical speed response.

Groups of 10 motors are controlled by a single PIC with custom servo code. Four PIC’s are slaved together by i2c with motor commands generated by a Master PIC.