Question KHR2 gyro and Accelerometers

[animetown9]

Hi...


I have a few questions for someone who are using sensor for your KHR-2

I want the robot to be stablize when walking, and if the robot fall down while walking, it can automatically stand up by itself.

Which sensor do I buy. Tell me if I am correct or not correct.

For walking stable I was thinking of getting two pieces of.
Kondo KRG-2

For falling down and automatically getting up
which should I get...
Kondo KRG-3 or something else...


any information would be appreciated.
Also does Robosavvy have them in stock or they have to order from japan.

[tempusmaster]

Hi...


I have a few questions for someone who are using sensor for your KHR-2

I want the robot to be stablize when walking, and if the robot fall down while walking, it can automatically stand up by itself.

Which sensor do I buy. Tell me if I am correct or not correct.

For walking stable I was thinking of getting two pieces of.
Kondo KRG-2

For falling down and automatically getting up
which should I get...
Kondo KRG-3 or something else...


any information would be appreciated.
Also does Robosavvy have them in stock or they have to order from japan.

The KRG-2 isn't a good choice for use with the KHR-2HV since it doesn't take advantage of the RCB3's ability to modify motions under program control.

The intermediate section in the RCB3J Hardware manual covers setting up the controller with gyros starting on page 32 in the English docs. It recommends using the KRG-3 gyros, which is what we use. The manual goes into detail on the setup, and how to use gyros in conjunction with the SET object.

Gyros are definitely good to stablize the robot, especially when walking, but the best approach is to create the movements as accurately and as balanced as possible, without using gyro correction, then enable it. If gyro correction is enabled with poor motions then it just masks problems that will come back to haunt you later.

For determining when the robot has fallen down, and whether it is prone or supine, to automatically trigger the correct stand up motion sequence, you use an accelerometer - typically via the AD3 sensor port.

[animetown9]

Thank for the quick answer Tempusmaster.

What I understand form your post.....

So basically I can use KRG-3 as a gyro or as an accelerometer.
Meaning I buy one KRG-3 to control as a gyro and
buy another one KRG-3 to control as an accelerometer...

[tempusmaster]

Thank for the quick answer Tempusmaster.

What I understand form your post.....

So basically I can use KRG-3 as a gyro or as an accelerometer.
Meaning I buy one KRG-3 to control as a gyro and
buy another one KRG-3 to control as an accelerometer...

No.

The KRG-3 is a gyro. Most people use two KRG-3 units - one for each axis.

If you want to use an accelerometer, it's a totally different part - typically something like the RAS-1, but there are others that have been used with the RCB3 controller.

[animetown9]

I see now...

KRG-3 is a single axle gyro...... it is a lot smaller than the KRG-2.

I assume KRG-3 is better.


As for the accelerometer..... which do you recommend for the RCB-3J
(which is easiest to program for the Heart software)

I was thinking about RAS-1 but it require you to buy the RSC-1 to use with the board.

But I believe RAS-1 and RSC-1 is designed for RCB-1 which is old board.


Therefore.... which is the cheapest and the best accelerometer to buy.
That will work good with RCB3-J and the software Heart2Heart.
3rd party is fine with me too.
I see robosavvy have some acceleormeter but not too sure it will work with RCB3-J.

[tempusmaster]

I see now...

KRG-3 is a single axle gyro...... it is a lot smaller than the KRG-2.

I assume KRG-3 is better.

Actually, size has nothing to do with it.

The KRG-2 goes inline with the servos and modifies the PWM signal, so its position corrections aren't determined by the controller. The KRG-3 is an analog device that feeds into one of the controller ports so that the corrections can be modified based on program control.

As for the accelerometer..... which do you recommend for the RCB-3J
(which is easiest to program for the Heart software)

Since the RCB-3 is reading analog signals from the accelerometer, there is no difference in ease of programming.

I was thinking about RAS-1 but it require you to buy the RSC-1 to use with the board.

I don't think that is the case.

But I believe RAS-1 and RSC-1 is designed for RCB-1 which is old board.

That is certainly true for the RSC-1, but not for other devices.

Therefore.... which is the cheapest and the best accelerometer to buy.
That will work good with RCB3-J and the software Heart2Heart.
3rd party is fine with me too.
I see robosavvy have some acceleormeter but not too sure it will work with RCB3-J.

The best place to start is probably with the place you purchased your robot kit. They should certainly be able to confirm compatibility for you.

You can also find a wealth of information, and answers to many of your questions, by searching the posts on this forum.