I was Initially concerned about how well the eyes would synchronize being controlled by separate servos (versus the old bowden tube system that used one servo for each axis across both eye modules). Pleasantly surprised, they sync up nicely and I was able to make small adjustments in software.

Controls work on the eye assembly, significantly more responsive than the Bowden cable version. I haven't finished refining the code, and in spite of that the movement is pretty natural. Parts for the other eye are printed, waiting on more servos to assemble it.

Eye mechanism moving under its own power. Code still needs work, but the mechanical side of things is working nicely.

Eyelid servo test, seems to work pretty well.

Eyelid test, making progress. Still needs work.

Range of motion test, seems to work just as well as the bowden cable drive version. A slight drag force applied to the eye reveals that there really isn't any slack in the linkages and joints, I'm optimistic I can get two of these to synchronize with the right code.

Another old function test video from early in the development of the eye animatronics.

Hooking up the eye itself to the the servos will require some small parts that haven't come in yet, but I'm very pleased with how this has turned out so far. It seems likely I can take the eye mechanism from Bowden cables to direct drive.

Old video of testing the movement of the eye animatronic in module in the 3.0 version of Haakon.

Old video of the eye animatronics working on the version 2.0 Haakon head.