My Modifications and documentation of the build. All files printed on Bambu Labs P1S All "Flexor" parts to be printed in TPU, all others PETG

TPU: https://us.store.bambulab.com/products/tpu-for-ams

PETG: https://us.store.bambulab.com/products/petg-hf

The Default v9 chasis bottom does not allow for installation of a SD card, too close to the wall. Modified that part... will test. (Chassis Bottom (Mod SD CARD).stl)

Plan: LLM = ooba/openai/tabby (recommend https://github.com/theroyallab/tabbyAPI) TTS = local or xttsv2 using xtts-api-server WITH VOICE clone (https://github.com/daswer123/xtts-api-server) STT = uses vosk SD = Automatic1111 Vision = Image Classifier

Good Info: https://www.instagram.com/wizard.py/

wizard uses the MG996R 55g Digital RC Servo Motors High Torque Metal Gear Servo Andrew uses: diymore 6PCS Metal Gear High Speed Torque Digital Servo Moto

-Link: https://www.amazon.com/diymore-6-Pack-MG996R-Digital-Helicopter/dp/B0CGRP59HJ/ref=sr_1_5?sr=8-5

Printing Draft / test is complete:

Software Demo (all locally hosted RTX 3060 streaming to RPI):

My Hardware:

Screws Needed (atleast):

6 M3 20mm

40 M3 14mm

76 M3 10mm

Rods: https://www.amazon.com/gp/product/B01MAYQ12S/ref=ox_sc_act_title_1?smid=ATVPDKIKX0DER&psc=1 https://www.amazon.com/gp/product/B0CTSX8SJS/ref=ox_sc_act_title_2?smid=A1NR50YASSZD11

Servos: https://www.amazon.com/gp/product/B0CGRP59HJ/ref=ox_sc_act_title_3?smid=A3F3CVCOVVNP2J

NOTE: Each leg APPEARS to need 2 90g micro servos if you want exendable arms.

Bolts: https://www.amazon.com/gp/product/B0CR6DY4SS/ref=ox_sc_act_title_4?smid=A1ZRRCZIF57JQ9 https://www.amazon.com/gp/product/B0D9GW9K4G/ref=ox_sc_act_title_5?smid=A1ZRRCZIF57JQ9 https://www.amazon.com/gp/product/B0CR6G5XWC/ref=ox_sc_act_title_6?smid=A1ZRRCZIF57JQ9 https://www.amazon.com/gp/product/B0CR6F3N45/ref=ox_sc_act_title_7?smid=A1ZRRCZIF57JQ9

Springs: https://www.amazon.com/gp/product/B076M6SFFP/ref=ox_sc_act_title_8?smid=A1THAZDOWP300U&psc=1

Bearings: https://www.amazon.com/gp/product/B07FW26HD4/ref=ox_sc_act_title_9?smid=ATVPDKIKX0DER&psc=1

16-Channel 12-bit PWM Servo Driver with I2C Interface: https://www.amazon.com/gp/product/B00EIB0U7A/ref=ox_sc_act_title_10?smid=AAEX2EKCSXB7D&psc=1

RPI Mic: https://www.amazon.com/gp/product/B086DRRP79/ref=ox_sc_act_title_11?smid=A1DWLG2LHSJB8R

Linkage: https://www.amazon.com/gp/product/B0CRDRWYXW/ref=ox_sc_act_title_12?smid=A1NR50YASSZD11&psc=1

Buck Convertor: https://www.amazon.com/gp/product/B07SGJSLDL/ref=ox_sc_act_title_13?smid=A3CX4TQNUXMB0L

RPI 5: https://www.amazon.com/Raspberry-Pi-Quad-core-Cortex-A76-Processor/dp/B0CTQ3BQLS/ref=sr_1_2_sspa?sr=8-2-spons&sp_csd=d2lkZ2V0TmFtZT1zcF9hdGY&psc=1

3" LCD: https://www.amazon.com/OSOYOO-3-5inch-Display-Protective-Raspberry/dp/B09CD9W6NQ/ref=sr_1_8?sr=8-8

Servo Wires: https://www.amazon.com/OliYin-7-87in-Quadcopter-Extension-Futaba/dp/B0711TBZY2/ref=sr_1_7?sr=8-7

MISC:

Audio amp: https://www.amazon.com/dp/B0BTBS5NW2

Audio Speaker: https://www.amazon.com/dp/B07GJ4GH67

Camera: https://www.amazon.com/dp/B07GJ4GH67

Orginal Fork info:

TARS from Interstellar x ChatGPT

• Original article: https://www.hackster.io/charlesdiaz/how-to-build-your-own-replica-of-tars-from-interstellar-224833#comments

Files TARS v3_10 - Fix Case Clip

• DOWNLOAD: https://uploadnow.io/f/MPLCGwg | https://fastupload.io/9f3621ef4afe07cc

Software

• Fusion 360 at https://www.autodesk.com/ca-en/products/fusion-360/personal
• https://projects.raspberrypi.org/en/projects/getting-started-with-the-pico/2
• OS Pi: https://www.raspberrypi.com/software/

Tutorial

• OS SD Card: https://www.tomshardware.com/how-to/set-up-raspberry-pi

Adafruit 16-Channel PWM HAT with a Raspberry Pi

• Videos https://www.youtube.com/watch?v=bB-xymRI8BY,
• Documentation: https://learn.adafruit.com/adafruit-16-channel-pwm-servo-hat-for-raspberry-pi, https://core-electronics.com.au/guides/raspberry-pi/servo-hat-raspberry-pi/

Without HAT

• Videos: https://www.youtube.com/watch?v=ea6tSppgZlY, https://www.youtube.com/watch?v=9jcEwn7GzNs, https://www.youtube.com/watch?v=40tZQPd3z8g
• Documentation: https://learn.adafruit.com/adafruits-raspberry-pi-lesson-8-using-a-servo-motor/overview, https://learn.adafruit.com/adafruit-16-channel-servo-driver-with-raspberry-pi/configuring-your-pi-for-i2c, https://www.youtube.com/watch?v=-x2EEIUMm6A

3D Printing

• Steel / Stainless / Aluminium: https://forgelabs.ca/
• PLA / ABS: https://jlc3dp.com/3d-printing-quote or https://www.treatstock.com/

Hardware

Power

• 1 x 12V to 6V 3A DC at https://www.aliexpress.com/item/32968137531.html
• https://www.aliexpress.com/item/1005003160082010.html
• 1 x 5V DC 4A Fixed 2.1mm Tip Appliance Plugpack at https://www.amazon.ca/Power-Adapter-100-240V-Transformers-Supply/dp/B087LY41PV/ref=asc_df_B08722QC75/?tag=googleshopc0c-20&linkCode=df0&hvadid=682881027011&hvpos=&hvnetw=g&hvrand=9596795855182106901&hvpone=&hvptwo=&hvqmt=&hvdev=c&hvdvcmdl=&hvlocint=&hvlocphy=9061023&hvtargid=pla-1143272721594&mcid=5e13db627edd3e64951090cd0674e630&gad_source=1&th=1
• 1 x 5V 4A DC Power Adapter at https://www.aliexpress.com/item/1005004589869667.html (Used for testing before buying battery)
• 1 x 5V USB To DC DC Power Cable 5.5*2.1m at https://www.aliexpress.com/item/1005007296667037.html
• 200000mAh Portable Solar Power Bank External Battery Fast Charging Waterproof Powerbank with SOS Flashlight Poverbank for Xiaomi at https://www.aliexpress.com/item/1005006959367711.html, https://www.aliexpress.com/item/1005007306992861.html

Please use HDMI cable: fpv cable hdmi, HDMI-compatible,FPV HDMI ffc HDMI Ribbon Cable 90 Degree Mini/Micro HDMI to Standard HDMI PCB Connector 20pin fpv micro hdmi 15cm

---

Hardware

• 1 x https://www.aliexpress.com/item/32914198349.html

• 2 x Lightweight Actobotics Servo Horn (H25T Spline) at https://www.servocity.com/25t-lightweight-hub-horn/ or look at .step file

• 1 x Adafruit 16-Channel 12-bit PWM/Servo Driver at https://www.adafruit.com/product/2327

• 1 x 8Bitdo Zero 2 Bluetooth at https://www.aliexpress.com/item/1005006458561670.html

• 5 x LD-3015MG 17KG 270 (LewanSoul LD-3015MG Standard Full Metal Gear Digital Servo with 17kg High Torque Dual Ball Bearing for RC Robot Car) at https://www.aliexpress.com/item/32787763122.html (2000-0025-0002)

• 1 x Fataba s3003 90-180deg at https://www.aliexpress.com/item/32957714272.html

• 4 x 2903-0004-0245 assembly at https://www.gobilda.com/2903-series-nylon-ball-linkage-m4-24-5mm-length-4-pack / Linkeage Rod M4 at https://www.aliexpress.com/item/1005005616106307.html

• 10 x Flexor bolts at https://www.aliexpress.com/item/32969042589.html

• 10 x Hex M3 20mm, 10 x Hex M3 10mm, 10 x Hex M3 14mm, 10 x Hex M3 30mm at https://www.aliexpress.com/item/1005003184392748.html

• 1 x Bearing 6x15x5 https://www.aliexpress.com/item/4000909583668.html

• 1 x Compression Spring 0.5mmx20mmx11mm https://www.aliexpress.com/item/1005005312536098.html

---

CPU & Storage

• 1 x MicroSD Card at https://www.aliexpress.com/item/1005006693506827.html
• 1 x Raspberri 3B/3B+ at https://www.adafruit.com/raspberrypi3bplus or eBay
• 1 x Elecrow 5 inch Touchscreen Portable Monitor HDMI-compatible 800x480 at https://www.aliexpress.com/item/32889893278.html

---

Battery

• 1 x myCharge Hub Mini at https://www.target.com/p/mycharge-hub-mini-3350mah-2-4a-output-power-bank-with-integrated-charging-cables-silver/-/A-76625534#lnk=sametab
• 1 x Zeee 11.1V 120C 1500mAh 3S at https://www.amazon.ca/Zeee-Graphene-Quadcopter-Airplane-Helicopter/dp/B08P399N54/

Extra

• Face Recognition: https://core-electronics.com.au/guides/face-identify-raspberry-pi/
• Lidar Detection: MS200 Lidar Sensor Kit Portable 360°TOF Ranging Scanner 12m Range Support ROS1 and ROS2 For ROS Robot Raspberry Pi Jetson NANO
• Battery Level: https://learn.sparkfun.com/tutorials/ltc4150-coulomb-counter-hookup-guide, https://forums.raspberrypi.com/viewtopic.php?t=173046, https://forums.raspberrypi.com/viewtopic.php?t=340930

ChatGPT

• https://www.youtube.com/watch?v=N0718RfpuWE

Servo Abstractor - Python

Sort of redundant to give these functions their own file, but this program takes the basic servo movements from the servo controller file and combines them to automate walking functions.

TARS Runner - Python

Run this file in terminal on your onboard computer to initialize TARS. This file handles communication with the bluetooth remote.

Servo Controller - Python

Handles basic movements of servos in TARS. Communicates with an Adafruit PCA9685 servo driver to control the servos.