These are the files for Robbie the Robot Robbie is a mix between Inmoov and Hector. I wanted a extra DOF in the shoulder joint http://www.thingiverse.com/thing:59826 http://www.thingiverse.com/thing:67676 Robbie has 2 kinects 1 in the base for navigation and 1 in the head for face recognition,tracking and using the microphone for voice recognition and sound localization Robbie runs on Ubuntu 12.4 and ROS Hydro Update added a longer gearmotor_wormV2.stl to improve stability more info at http://escaliente-robotics.blogspot.com.au/ The shoulder attach is custom made out of MDF and will change. I'm not very happy with the size and placement of the shoulder pan gears. The biggest change will be the shoulder lift to tilt attach its to far forward. The servos from the hector robot have been replace with gear motors there is a mounting plate for the motor and a new worm. I found the worm requies a metal ring or the grub screw move (use a lock nut ) in time the worm has a hole in the center I found filling it with epxoy resin will make it last longer. To attach the elbow requires the elbow plug to make room for the motor The rotate joint I have replaced the180 deg potentiometer with a 16mm 270 deg rotation potentiometer The shoulder pan joint uses a gearbox from Hector with a gearmotor, top_pan_pivot_V1 uses a M8 bolt to hold the shoulder in position and should be long enough to attach the encoder gears. Spacers will be required to put some pressure on the pan gear bearing. The pan gearmotor should be a low rpm type to keep the joint movement slow added mesh1.tar.gz this file contains the urdf and stl files required for ROS change the location for the stls in the urdf to match your location