Hey! This thing is still a Work in Progress. Files, instructions, and other stuff might change!

Damian legs (InMoov)

by Bartods, published

Damian legs (InMoov) by Bartods May 13, 2017


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This is not yet completed legs for robot Damian (Inmoov). I share it them on request for Myrobotlab. You have to lay out the printouts so that they print out.
Files are right side for left side You need to do a mirror in program.

Please do not print this as a finished design, this is not the final and 100 % working version!


goranogiV2 - has been little cutted (about 3cm) I think the upper part of leg is to long. If
You are printed old part don't worry it will be OK to project but little longer.

18.6.2017 - Added low pelvis (podstawa dol), one of the biggest and complicated parts in project!
21.6.2017 - Added few parts for pelvis mechanism and upper pelvis
rest is under projecting...
9.9.2017 - Knee tests
15.9.2017 - Uchwyt nakretki kolana (knee part for screw 8mm x 8mm per turn x (about)30 cm long
15.9.2017 - updated knee motor mounting (Bolts are additional hinges)
16.9.2017 - updated pokrywadolbrzuch and diagram for it (this is used to fix the servo to the pelvis, the mechanism of the pelvis , need to unblock MG966 servo to 360` rotating)
25.9.2017 - Potentiometer holder for knee (positioning of the knee)
25.9.2017 - StopaduzaV2 (foot V2 with place for 3 tensometers, old foot is also good)
18.10.2017 - srobatolw (this is the stomach part x 2 for 2 axes pelvis)
18.10.2017 - zawiasbrzuch (it's the part for stomach 2 axes of freedom)
26.11.2017 - added parts to modify stomach at 2 axes o freedom
26.11.2017 - uploaded podstawa dol test (this part in 100% will be in modifying) Don't print it if You want to print only the finall version
27.11.2017 - uploaded PUSNOV2 (this part is for podstawa_dol_test to connect it with lsnp2 and motors)
27.11.2017 - tylek :) (back part of panties)
4.12.2017 - Potentiometers mechanism for upper leg parts (TESTING MAYBE FINAL VERSION) thx Ray (connection diagram will be later)
-UchwytZnogi , upnd, upndzemb, zambatkaZnogiD2, zambatkamalanoga, zembatkaduzanoga
9.12.2017 - I made a mistake, uploaded correct zembatkamalanoga (sorry)
19.12.2017 - uploaded gears for rotation leg mechanism (ZembakaNogaObrot, ZembServNogaObrot, ZembNogaPlanetObrot this gear x 2 for each leg)
26.12.2017 - correction (obejma2.1 is for back hold, obejma2.2 is for front) sorry
30.1.2018 - positive testing of leg mechanism
13.3.2018 - zawias_silnika_stopy.stl (this part is in calf, is for motor mount to move foot). Supports needed and minimum 60% infill, more=better.
14.3.2018 - wzwlw.stl and wzwlz.stl (small update to zawias_silnika_stopy.stl for
reinforcement) , mirror it for other leg
24.3.2018 - added oslona_biodra (it is add for pelvis)

Print Settings


Diy Printer




min 60%


thing are big but the most of printers should do the work. This is not final project!

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Hello .. Good evening,Are you printing the parts? filament pla or abs

Thank You. It is very good modification :)

hello bartods
i modifi piece


It is an additional reinforcing hinge for the knee motor. Mount it with the zawiassilnikawkretarki , and screw in from the inside to the leg.

Its used to help support zawiassilnikawkretarki.stl it is attached to the inside of srodek_nogi.stl with small screws.
Make sure you fit them onto zawiassilnikawkretarki.stl before fitting zawiassilnikawkretarki.stl into the srodek_nogi.stl or you will never get them fitted.
Once zawiassilnikawkretarki.stl is in place, slide the obejma_zawias.stl up to the srodek_nogi.stl and attached with small screws.
You will need one for each and of the zawiassilnikawkretarki.stl
This can be a difficult part to install due to the cramped space but will add a lot strength to the pivot point.

Heat a little UchwytSB and slightly bend it, then put Obejmaserwo in UchwytSB and squeeze slightly UchwytSB.Wait until it tips.

You can convert it in any program

hi Bartods,

can you also publish the parts in an other format than stl, so I could edit and modify them?

look at damiantolw2.jpg this parts is for mount the bolts. It is used as hinges for screws.
Look also on that clip: https://youtu.be/W0IElWETiK4

damiantolw is the Damian's back view, This is the articulating stomach.

No, I use 12V motors from different screwdrivers (all are almoust these same and fit) screwdriver with 1 speed gear off course

you have reference of motor

those are motors from screwdrivers 12V (drill motor)

Hello, good morning, that engine of the legs you found where

Really nice work man. I just finished printing Gael's legs and the lack of the extra degrees of freedom are frustrating. Keep up the good work.

this is not a race, parts have to be designed, checked and redesigned if necessary and so on until the part is good enough.
So far my printer has a broken extruder and I need to buy a new one. Unfortunately I have other expenses for now and I have to pause

Are you ready for when?

english please. Parts are on construction.

ola amigo bom dia
tem como voce me mandar ese restinho da perna, no meu email pra mim terminar de montar a minha

here is podstawa generated to obj file for those who want to cut "podstawa" and "podstawa dol" to smaller pieces in cad program

Thanks Bartods

podstawa_dol now split in two and uploaded here: https://www.thingiverse.com/thing:2320603

Damian legs (InMoov) - Tall parts split in two

this base is on phase of prototyping and changing to best results.
If base will be good to release I will do it

Hello .. Good evening
The base where it fits the legs you still post he on here

Hi Bartods,

which tensiometers are you using for the feet and where to buy them?

Hi nanomole39,

I've got also FFCP could you please share your adapted files to start printing legs ?


(June 26, 2017 - nanomole39
Printcell - run them through netfabb if you get errors mine did the same on S3D. that fixed it for me. i cut all the large parts up so i could print on FFCP. both legs completed now.

Bartods - thanks for sharing !!!)

Nice work -Bartods-,,, you have done a great job at keeping ”Mr Gael’s “ Sculpture/Artistic Style flowing into the Legs and getting the scale right,,,, which is not easy – ,,

Motors place is on the plans

Hello friend, good day, that engine, you conceived it, where

I know the parts is missing it's in projecting phase...
I don't have now to much time to work on it, just be patient

Hi friend, good evening
Are you missing parts, how can you send me? I'm finishing printing but the pieces are missing

I don't know this yet, i trying to resolve many problems with designing legs. It is not that simple, motors and connections must be working together and be very stable to lift all robot....

Bartods do you think the legs you have designed will hold the full weight of the robot? I am sure it will be awhile before we are able to have them balance and walk on the legs but it looked like you still were relying on the stand to support the weight of the upper body?

I wait for monster shields to drive motors, that i have buy is broken (chip-s are fake) and don't work. But i have tested legs on my hand stering and it work very well. Need to modify few parts but it is still in progress and I working on it.

Bartods, I love the look of the leg! I am thinking of trying it with linear actuators rather than drill motors. I may first try to do one with screw driver motors like you did and then modify it later... Have you made any further progress on this with your testing?

Printcell english please...

eu tou usando o programa repetier host com o slice nao se se vc conhece

nanomole39 thanks for explaining :)

Printcell - run them through netfabb if you get errors mine did the same on S3D. that fixed it for me. i cut all the large parts up so i could print on FFCP. both legs completed now.

Bartods - thanks for sharing !!!

Hi nanomole39,

I've got also FFCP could you please share your adapted files to start printing legs ?


I don't know why, my slicer is doing well.

nao da para imprimir o meu da erros

When I go slice it lacks the wheels of the knee and ,,, parts that turns blue

I use "SIMPLIFY", what is missing?

Hello friend, good night, you used what program to slice, I use the slice but it's not working when I'm going to slice it, it's missing pieces ....

I buy used or broke on internet auctions...

Hi Bartods - where did you get your drill motors from, supplier ?

thank you for the update - going well so far !

yes I have but it is not quite good, I must do some changes to publish it.
Work is in progres

hi bartods - nearly finished printing the legs, do you have the model of the top pivot (black part that attach`s to Inmoov body)

Give a friend, I already understood and I gave thanks, thank you.

Which program do I use to make this kind of mirror? Excuse me I'm layman in it

Make a mirror image of the part in the program...

I did not understand

Just mirror parts in slicing program...

Hello friend good afternoon I set up inmoov, and I liked your legs you could send me the other leg ..... I'm grateful

I don't know why, on my Slicer all parts is OK. Try other slicer.

Thanks for the link. the larger parts do not slice without errors - I am having trouble repairing. the lower leg parts are fine. ran them thru another slicer - all good now

Thanks for his great legs !- which specific type of motor, do you have a link ?

I use 12V motors from screwdrivers with planeary reductions.
Feet's are not ended yet.

Hello and thanks for this great legs. I have a question: Which motors are you using for the legs and in the feet?

This message is for some people who has getting profit from other people work!
The project is owned by the creator. I do not agree to selling parts designed by me. The project can be used and printed for your own needs, the project can not be used for profit.

Its about 2,5-3 kg of PLA. I print it in PLA. Maybe little more

sorry but I don't understand. May You write in english? Even if I use translator I don't understand.

Hello and thank you for sharing, great work
Would you know how much weight or spool to make a leg?
What I order from ABS for my inmoov :))

Bonsoir et merci d avoir partage, super travail
Sauriez vous combien de poids ou de bobine pour faire une jambe ?
Que je passe commande d ABS pour mon inmoov :))

I corrected "gora nogi" to two separated parts, sorry I don't saw that before. Added another parts for, mechanical for moving the leg.

AcapulcoRolf - if you correct that in your split, will be great.

Thanks Bartods

New version of gora nogi now split and uploaded: http://www.thingiverse.com/thing:2320603

Damian legs (InMoov) - Tall parts split in two

Nice looking design. Unfortunately, the pieces don't fit on my printer (Makerbot Rep 2 can only print 6" high) or I would print your design.

Hi Bob

The tall parts have been split in two here: http://www.thingiverse.com/thing:2320603

Thank you Bartods for sharing your work

Damian legs (InMoov) - Tall parts split in two

The project has already resolved the movement of the legs (twisting and movement in two axes). As I finish a fairly well-run version, I'll throw it here.

Danke das du deine Arbeit mit uns teilst.
Thank you for sharing your work with us.

ah yes a new video for see knee work nice
for the hip how you do?
the more difficilut is ankle

If enybody could do instuction and send it to me will be great , I share it to this thing. Rest of the parts I will publish in time to time.

hello damian thank you for your download and your files
everybody are need that