Hi there
Hi there
by Meltdown
Fri Nov 26, 2004 10:59 pm
Hi,
Nice webpage! and a dedicated forum too!! Great
I think i may have to dissepoint you in your statement on the building page that you are the first in the western world to have build a KHR-1.
I bought one in the beginning of August, heheh (sorry had to gloat). I'm from the Netherlands by the way.
First Let me tell you what i did to my robot.
My KHR-1 now has 21 servos. 2 extra in the legs and 2 in the arms.
Kondo now sells kits with movement of the soles but i didn't use it that way.
I used the 2 servos to be able to turn the legs sideways and inward.
I did the same with the arms.
I now use a 7.5 amps laptop psu to power the robot because the ni-cad cells run out to fast. Especially when in programming mode.
After testing i would urge not to go below 6 amps because the robot really needs it!
Installed a bluetooth module for remote operation.
( check out Kondos site for a program called RCB commander)
This soft in japanese (for now) allows your keys on the laptop to become
hotkeys for movements. You can control your robot like an RC model just using your keys. Or use a psx controller or RC transmitter.
I made the soles a little bigger using the same grade aluminium used for KHR-1. A few years back i build my own cnc mill and lathe which now come in handy. I replaced all freehorns with aluminium ones made on the lathe. (the soles and freehorns can be bought now from Kondo but the horns are very expensive). I did the freehorns first. Making the main horns pose a ploblem because of the grip inside the horns.
Next thing will be a gyro.
I really hope that Kondo will offer a metal gear set for these servos in the future. Most of the instability comes from the servos main axis flex and lack of bearings.
I'm now looking into the possibility to add bearings into the servos cases.
I also hope that there will be more users here in the future
Ps
For Apple mac users who also want a KHR-1 robot.
i use a 17" powerbook with virtual pc running windows xp for controlling the KHR-1.
and a keyspan usb to Rs232 adapter. Works great.
Or add a serial bluetooth module.
Nice webpage! and a dedicated forum too!! Great
I think i may have to dissepoint you in your statement on the building page that you are the first in the western world to have build a KHR-1.
I bought one in the beginning of August, heheh (sorry had to gloat). I'm from the Netherlands by the way.
First Let me tell you what i did to my robot.
My KHR-1 now has 21 servos. 2 extra in the legs and 2 in the arms.
Kondo now sells kits with movement of the soles but i didn't use it that way.
I used the 2 servos to be able to turn the legs sideways and inward.
I did the same with the arms.
I now use a 7.5 amps laptop psu to power the robot because the ni-cad cells run out to fast. Especially when in programming mode.
After testing i would urge not to go below 6 amps because the robot really needs it!
Installed a bluetooth module for remote operation.
( check out Kondos site for a program called RCB commander)
This soft in japanese (for now) allows your keys on the laptop to become
hotkeys for movements. You can control your robot like an RC model just using your keys. Or use a psx controller or RC transmitter.
I made the soles a little bigger using the same grade aluminium used for KHR-1. A few years back i build my own cnc mill and lathe which now come in handy. I replaced all freehorns with aluminium ones made on the lathe. (the soles and freehorns can be bought now from Kondo but the horns are very expensive). I did the freehorns first. Making the main horns pose a ploblem because of the grip inside the horns.
Next thing will be a gyro.
I really hope that Kondo will offer a metal gear set for these servos in the future. Most of the instability comes from the servos main axis flex and lack of bearings.
I'm now looking into the possibility to add bearings into the servos cases.
I also hope that there will be more users here in the future
Ps
For Apple mac users who also want a KHR-1 robot.
i use a 17" powerbook with virtual pc running windows xp for controlling the KHR-1.
and a keyspan usb to Rs232 adapter. Works great.
Or add a serial bluetooth module.
Last edited by Meltdown on Mon Nov 29, 2004 4:17 am, edited 1 time in total.
by limor
Sun Nov 28, 2004 4:33 am
Hello Meltdown and welcome to RoboSavvy's forum!
We are finally being indexed by google and we're advertising through their adwords system so hopefully more people will be aware of this site and find interest in discussing Robo-One & humanoids.
So, I obviously have a few questions regarding your post.
Would love to see what you did. If you dont already have a project web page, we can facilitate for you to have it on our server. If you are interested, send me a private note or email.
Laptop psu should do the trick. I use a standard bulky regulated DC power block. Haven't had time yet to post some new pages about operations and software of KHR-1 but they will definitely include this issue.
We haven't ordered those bluetooth modules from Kondo because they are a bit expensive and we wanted to see some more customer interest first. The documentation describing the PC-> RCB-1 protocol has not yet been translated from Japanese. Have you managed to get the RCBcommander to work with the RS232 cable rather then the bluetooth module ?
Thats very cool - building your own CNC. There's a Japanese company called OriginalMind that started selling sub-$1000 CNC kits specifically for the Japanese/Korean Robo-One crowd.
I'll check with Kondo about the metal gear or other upgrade paths. How would you add the bearings ?
Regarding the gyro, have you seen gyro enabled KHR-1 clip found in the RoboSavvy Video links page?.. Are you planning to add the gyro feedback into the RCB-1? how?
Cheers,
Limor
We are finally being indexed by google and we're advertising through their adwords system so hopefully more people will be aware of this site and find interest in discussing Robo-One & humanoids.
So, I obviously have a few questions regarding your post.
My KHR-1 now has 21 servos. 2 extra in the legs and 2 in the arms.
Kondo now sells kits with movement of the soles but i didn't use it that way.
I used the 2 servos to be able to turn the legs sideways and inward.
I did the same with the arms.
Would love to see what you did. If you dont already have a project web page, we can facilitate for you to have it on our server. If you are interested, send me a private note or email.
I now use a 7.5 amps laptop psu to power the robot because the ni-cad cells run out to fast. Especially when in programming mode.
After testing i would urge not to go below 6 amps because the robot really needs it!
Laptop psu should do the trick. I use a standard bulky regulated DC power block. Haven't had time yet to post some new pages about operations and software of KHR-1 but they will definitely include this issue.
Installed a bluetooth module for remote operation.
( check out Kondos site for a program called RCB commander)
This soft in japanese (for now) allows your keys on the laptop to become
hotkeys for movements. You can control your robot like an RC model just using your keys. Or use a psx controller or RC transmitter.
We haven't ordered those bluetooth modules from Kondo because they are a bit expensive and we wanted to see some more customer interest first. The documentation describing the PC-> RCB-1 protocol has not yet been translated from Japanese. Have you managed to get the RCBcommander to work with the RS232 cable rather then the bluetooth module ?
I made the soles a little bigger using the same grade aluminium used for KHR-1. A few years back i build my own cnc mill and lathe which now come in handy. I replaced all freehorns with aluminium ones made on the lathe. (the soles and freehorns can be bought now from Kondo but the horns are very expensive). I did the freehorns first. Making the main horns pose a ploblem because of the grip inside the horns.
Thats very cool - building your own CNC. There's a Japanese company called OriginalMind that started selling sub-$1000 CNC kits specifically for the Japanese/Korean Robo-One crowd.
I really hope that Kondo will offer a metal gear set for these servos in the future. Most of the instability comes from the servos main axis flex.
I'm now looking into the possibility to add bearings into the servos cases.
I'll check with Kondo about the metal gear or other upgrade paths. How would you add the bearings ?
Regarding the gyro, have you seen gyro enabled KHR-1 clip found in the RoboSavvy Video links page?.. Are you planning to add the gyro feedback into the RCB-1? how?
Cheers,
Limor
by Meltdown
Mon Nov 29, 2004 3:35 am
Hi Limor,
Great to have someone to talk too. I thought i was the only one here in Europe
What's your location?
I have to make some pics first. I don't have a project web page so if you can facilitate it that would be great!
Looking in your profile i couldn't find a private mail address?
You're the moderator?
Who's robosavvy then?
RCB commander doesn't need bluetooth!
It works with the normal RS232 cable too!
I can control the robot in real time using standard motions like walk forward, turn left, sit down etc.
I had it walk to a sock i laid on the floor, let it pick up the sock, and return it to me offering it to me. LOL.
Just by playing the laptops keyboard and RCB commander.
I think the Kondo one isn't a bluetooth adapter. I could be wrong though but
as i understand it it's a normal radio transmitter like the ones used in RC models. Kondo is a devision of Ko Propo which is a well known RC manufacturer for RC models. (another hobby of mine) I think that's why they use that bulky dedicated transmitter.
My powerbook came with a build in bluetooth module so i just added a serial BT receiver. (currently i'm without the BT module. Had to send it back for repair )
I'm a little sceptic about Kondo offering metal gears for the standard servos.
I think they will say to just upgrade to the KRS2346 ics ones.
But these are way too expensive for me, let alone replacing the 21 i already have. 8O
So if there will be an upgrade solution then i'm all ears!
Bearings inside the casing poses a problem.
First: it looks like there isn't enough material to hold the bearing.
Second: the main shaft isn't 6mm but 5.78mm.
Could it be an inch standard? Maybe you can tell me if such a bearing exists in england? Can also be 5.8mm.
The strange thing is that the shaft of the free-horn (backside servo) is exactly 6mm.
I'm in the process of making all the free-horns in alu and add bearings in them as we speak.
Building the cnc mill has proved to be invaluable.
The things you can make with those, heheh
I've seen the OriginalMind one. Quite nice for the budget and it will do for the 1 or 1.5mm alu sheet used by the robots but i prefer my own one driven by servos instead of steppers. One thing i learned by now is that you need mass to machine alu above 2mm. Let alone steel.
Light machines will resonate resulting in braking bits all the time and inaccuracy of the cut. But this is becoming shamefully off-topic
I can write books about the topic, heheh
That gyro equipped KHR-1 is awesome! A must have!
It could be the unit from http://www.hsworks.co.jp
( Forgive me for the grammar, i'm just a dutchie. )
Cheers
Michael
Great to have someone to talk too. I thought i was the only one here in Europe
What's your location?
Would love to see what you did. If you dont already have a project web page, we can facilitate for you to have it on our server. If you are interested, send me a private note or email.
I have to make some pics first. I don't have a project web page so if you can facilitate it that would be great!
Looking in your profile i couldn't find a private mail address?
You're the moderator?
Who's robosavvy then?
We haven't ordered those bluetooth modules from Kondo because they are a bit expensive and we wanted to see some more customer interest first. The documentation describing the PC-> RCB-1 protocol has not yet been translated from Japanese. Have you managed to get the RCBcommander to work with the RS232 cable rather then the bluetooth module ?
RCB commander doesn't need bluetooth!
It works with the normal RS232 cable too!
I can control the robot in real time using standard motions like walk forward, turn left, sit down etc.
I had it walk to a sock i laid on the floor, let it pick up the sock, and return it to me offering it to me. LOL.
Just by playing the laptops keyboard and RCB commander.
I think the Kondo one isn't a bluetooth adapter. I could be wrong though but
as i understand it it's a normal radio transmitter like the ones used in RC models. Kondo is a devision of Ko Propo which is a well known RC manufacturer for RC models. (another hobby of mine) I think that's why they use that bulky dedicated transmitter.
My powerbook came with a build in bluetooth module so i just added a serial BT receiver. (currently i'm without the BT module. Had to send it back for repair
)ll check with Kondo about the metal gear or other upgrade paths. How would you add the bearings ?
I'm a little sceptic about Kondo offering metal gears for the standard servos.
I think they will say to just upgrade to the KRS2346 ics ones.
But these are way too expensive for me, let alone replacing the 21 i already have. 8O
So if there will be an upgrade solution then i'm all ears!
Bearings inside the casing poses a problem.
First: it looks like there isn't enough material to hold the bearing.
Second: the main shaft isn't 6mm but 5.78mm.
Could it be an inch standard? Maybe you can tell me if such a bearing exists in england? Can also be 5.8mm.
The strange thing is that the shaft of the free-horn (backside servo) is exactly 6mm.
I'm in the process of making all the free-horns in alu and add bearings in them as we speak.
Building the cnc mill has proved to be invaluable.
The things you can make with those, heheh
I've seen the OriginalMind one. Quite nice for the budget and it will do for the 1 or 1.5mm alu sheet used by the robots but i prefer my own one driven by servos instead of steppers. One thing i learned by now is that you need mass to machine alu above 2mm. Let alone steel.
Light machines will resonate resulting in braking bits all the time and inaccuracy of the cut. But this is becoming shamefully off-topic
I can write books about the topic, heheh
That gyro equipped KHR-1 is awesome! A must have!
It could be the unit from http://www.hsworks.co.jp
( Forgive me for the grammar, i'm just a dutchie. )
Cheers
Michael
KHR-1
by Will
Thu Dec 22, 2005 5:46 am
Hi!
I live in Miami Florida and i got a KHR-1 for Christmas last year! I'm the only 13 yr old with one that i know of. My friend and i tried programming it but we just cant get it to work! Do you have any tips on getting it to work?
Also, I wanted to know about the RCBcommander and where i could get one. I like the idea of being able to just pick a number and it performs as expected. I really want to know more about it. 8O
I know alot about robots so this isn't completely new for me. I've done FLL (First Lego League) and am currently teaching the class with my friend Tyler. Also, I'm involved in Battlebots IQ. So im not a newbie!!!
Thanks,
Will
I live in Miami Florida and i got a KHR-1 for Christmas last year! I'm the only 13 yr old with one that i know of. My friend and i tried programming it but we just cant get it to work! Do you have any tips on getting it to work?
Also, I wanted to know about the RCBcommander and where i could get one. I like the idea of being able to just pick a number and it performs as expected. I really want to know more about it. 8O
I know alot about robots so this isn't completely new for me. I've done FLL (First Lego League) and am currently teaching the class with my friend Tyler. Also, I'm involved in Battlebots IQ. So im not a newbie!!!
Thanks,
Will