1.

A microphone-array, installed in the head, provides not only better audio quality but is also able to detect the direction of the audio-source! This is implemented as ROS2-publisher and publishes once every second

2.

New loud-speakers provide much better sound, integrated into pibs torso. Also, as an exciting side-effect, they illuminate pibs body in its “scientific blue”

3.

Now a big one: all major joints can now easily be calibrated at any time! Previously, we had the calibration in the tutorials when the motors were installed. This is still a good time to calibrate everything. Nevertheless, last year showed that not everyone is following the tutorials in every detail and it created some frustration to disassemble pib in order to calibrate motors at a point later time. So, we did a major re-work of the arms, shoulders and the neck in order to simplify the calibration which is now much more tolerant to “individual” building-approaches

4.

The sides of the head can now be opened via snap-fits to provide easy access to the electronics

5.

Pib has now three programmable RGB-buttons integrated in his chest.

6.

The power switch for the Raspberry Pi was moved on top of pib’s head and is now easily accessible. Furthermore the power supply is stored in a new clip on pib’s stand for less cable tension and the possibility to extend the cable without issues.

7.

The servo array for the finger servos has been reworked: The PTFE-tubes and wires can be mounted with ease and individually

8.

The palm was widened, so that it is easier to assmble the finger-joints close to the palm

9.

Improved cable-guides

10.

Stronger connection for the head-vertical DOF

11.

Improved power-supply for the Raspberry Pi, so that shown errors, experienced blackouts and hardware-damage due to forces on cables do not happen any more and handling power-connections is simplified for the user.

12.

The electronics in the head is not connected via spacers, which increases stability of the overall electronics connections significantly