Articulating Stomach for InMoov

by bhouston, published

Articulating Stomach for InMoov by bhouston Mar 12, 2016
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This is a modification to InMoov's Top Stomach enabling it to lean forward and back and side to side.
Print 2 each of the following parts;
TS Pistons
TS Side Pivot Sockets
TS Servo holder
TS Side PivBlk
TS Middle Plate
Print 1 each of all the rest.
Also print - TStoBackLeftV1, TStoBackRightV1 TStoFrontLeftV1,TStoFrontRightV1 from InMoov's website. If you are adapting the Top Stomach reuse these parts.

Update March 16/16 Also print, DiskUnderV1, DiskExternV2, DiskInternV3 so that the Logo plate can be attached.
Once all parts are printed, fit them and make sure they are moving freely before installing them. Grease all of the ball joints and pistons. The base does not have a race in it for ball bearings. I used a 1/4" teflon plate between this and the Mid Stomach, it works great - grease that too. This base will bolt on to the StomGearV2.

You need 2 intact - HS-805BB servos (drive servo) and 2 - HS 805 BB servos with the boards removed or disabled, the pots and the stop removed (slave servo). Connect the motor leads from the intact servo to the motor leads of the slave servo - make sure they move in opposite directions. Do this for both the Back servo's and the Side servo's.
Set the drive servo's to 90 degrees before installing.

3/14/2016 Update; The Base Right STL originally posted has been up dated. The Base left was uploaded twice.
06/12/2017 Update; I found that the ball and socket can separate if pulled on to far or lifted. There is now a new 2 part main socket that will hold better. Bolt it together after installing and insert the pin. I hot glued the pin in place.

Print Settings

Printer Brand:



MakerBot Replicator 2




20 to 75 %


I printed most of the parts with 2 shells, .2mm and 25% infill. The pistons were printed at 75 %. Some parts need supports, add them as needed.

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Hi Bob, thanks for sharing this design

One question: Should TS_Base_Right and TS_Base_Left mate through the dovetail joints?
Looking at the models for these two parts the dovetail appears to be reversed on one or other of the pieces

The TS Connector joins them. Print 2 of them.

Thanks Bob, I didn't work that out on first glance :)

By the way, I've remixed your TS_Base to add a race to receive bb gun balls or similar

I'll post it on Thingiverse once I have things assembled and tested

Great add the remixes when you can. I use a Teflon disc instead of the BB’s so I didn’t put the race in.

Thanks Bob. I made your stomach tilt the week you first released the stl files. It worked well, but I think it was to loose and after powering it off it fall backwards and broke the ball joints and hit the ground hard enough to back several parts and arms. It was a sad day

Hi Bob, how do you keep it from falling forward or backwards when the power is turned off.


Hi, I make sure it is centered before turning off the power. Things are tight enough so it doesn't move unless it is bumped. I've been thinking of some kind of wedge or something to lock it in place though.

Comments deleted.

BaumBotics, I'm not sure what you mean but if you are saying will it keep upright when other movements/forces make it want to lean one way or the other, then yes. An accelerometer or gyro or inverted pendulum will be needed.

can you use this concept for a self-balancing upper torso?

BaumBotics, I'm not sure what you mean but if you are saying will it keep upright when other movements/forces make it want to lean one way or the other, then yes. An accelerometer or gyro or inverted pendulum will be needed.

very nice bob
thank for give use your work