Hi Everyone,
So it’s been a while since I posted something here… I have been really busy on some other projects which made the progress on Anima very difficult… I still continued the development on the current version but the more I worked on it, the more I was thinking that it could be greatly improved !
The version 1 and 2 have already been done, however I’m not completely satisfied with the current version… The body cut in several parts due to print size limitation kind of destroy the overall aesthetic and weaken the body. Then the concept was oriented towards a exploration/security robot and I figured it would be better to design it more like a companion instead !
This will be the third and last version of this robot… I started this project quite some time ago (in 2001) and I think it is time to at least finish one version of it 
The concept is still the same and most of the exterior design will remain similar to the Rev2. However, the hardware and mechanical will greatly improve !
The Hardware design is almost finished and the Mechanical design is approximately 60% completed ! so stay tuned for updates !
Improvements from Rev2:
• SLA 3D printed body
• Overall body design improved
• 4 Layers Single Motherboard for better performance and size reduction
• All sensors are I2C and on the same bus
• Improved battery charger
• Improved Power supply
• Efficient active cooling
• Improved communication between STM32 and Rpi
• 2 axis Head (new feature !)
• 2 Oled display for the Eyes (new feature !)
• 2 moving ears (new feature !)
• Gesture sensor on top the the head for better interactions (new feature !)
• Docking station capable (new feature !)
• Flexible Oled display for robot status (new feature !)
• Hidden Raspberry Pi with moving hood (new feature !)
Components & Characteristics:
• Energy: Li-Ion 11.1V 7800mAh
• Power: Custom 140W PSU based on LM25119PSQ
• Charger: Custom, based on LTC4015
• Brains: STM32F415VGT6 + Raspberry Pi 3 B+
• OS: RTOS + Raspian
• Programming Language: C, Python
• Communication: 2x Bluetooth + WiFi
• Vision: 5Mpx Micro Camera
• Displays:
– 2x 0.49″ OLED for the Eyes
– 1x 1.81″ Flexible OLED for robot status
• Actuators:
– Legs: 18x Herkulex DRS-0101
– Hood: 1x KST DS215MG
– Head: 2x KST DS215MG
– Ears: 2x Hitec HS-40
• Sound: 2x 1W stereo speakers + buzzer
• Interface:
– Capacitive touch switch with RGB led
– Gesture sensor
• Control: Autonomous and Remote-controlled
• Sensors:
– 1x IMU 10-DOF
– 2x LM75B temperature monitor
– 1x IR telemeter(GP2Y0A21)
– 1x Magnetic switch for charging dock
• Target environment: indoor/outdoor
• Size [LxWxH]: 28cm x 36cm x 16cm
• Weight: 2,5kg
Anim4Bot 