Best robot for motion-capture control: KHR1HV,2HV, Robonova?

[czyl]

Hi all,

I was lucky enough to be given access to a professional motion-capture system, so I'm trying to build a humanoid that can imitate the motions of a human user in real-time.

I'm thinking that the KHR-1HV is the best robot to use in terms of DOF and moving like a human, compared to the KHR-2HV or Robonova.

Does anyone have any suggestions on if this would be a good platform to use? What added components will I need to buy (if any) in order to remote-control the KHR-1HV in real-time with a motion-capture system? Gyros?

Thanks! This is my first humanoid robot, so I'm looking forward to it!

[limor]

Hi czyl,
You are right about khr1hv having good weight to torque ratio and probably good human like weight distribution. Bioloid would be ok too if you would use LiPo battery instead of NiMh.

You will definitely need one or more gyros to help keep the robot from falling.
human motion capture superimposed on the robot is going to be a very interesting experiment. Please share your captured data and maybe others can give it a try aswell.

The thing with us humans is that we correct our muscles a several times/sec using our inner ear as a sort of gyro sensor and the soles or our feet as an uneven terrain sensor. We predict what type of fall is imminent and readjust our motion path to prevent it..

[czyl]

Thanks, Limor -- if possible, I will post a link to my data here as soon as it's recorded, to let others have a go at it. Which gyros do you think would be appropriate, and how many are needed to make a difference in the robot's stability during motion? Should I get one of the KRG2 or KRG3, or multiple copies of each, or both?

[limor]

The usual solution for KHR2HV / KHR1HV stability is a couple of KRG-3.
In addition a RAS-2 accelerometer will allow for automatically getting up from the right direction after falling.

[StuartL]

SparkFun (http://www.sparkfun.com/) do a five degree of freedom IMU/Gyro with three axis accelerometer and two axis gyro. With the right orientation you can probably get everything you need. It's $110, about £55 before delivery/importing. I'm sure that Limor can investigate importing them in bulk

[limor]

It's already here (UK).
http://robosavvy.com/store/product_info ... cts_id/300

[czyl]

Hi all,

The KHR-1HV arrived from RoboSavvy 2-3 weeks back, and this week I've gotten the basic kit robot up and running on H2HJ.

I have the RAS, KRG-3, and KRR parts, but I'm not quite sure how to install them given the limited illustrations on the included instructions. Could anyone provide any pointers on where these are supposed to go on the board? Do they connect to the three open analog slots?

Thanks!

[tempusmaster]

Hi all,

The KHR-1HV arrived from RoboSavvy 2-3 weeks back, and this week I've gotten the basic kit robot up and running on H2HJ.

I have the RAS, KRG-3, and KRR parts, but I'm not quite sure how to install them given the limited illustrations on the included instructions. Could anyone provide any pointers on where these are supposed to go on the board? Do they connect to the three open analog slots?

Thanks!

The accessory installation and setup instructions are documented pretty well in the intermediate section of the RCB3J English manual, though the mounting/location information is better in the service packs downloadable from the Kondo website. The service packs are only in Japanese, but are fairly easy to follow from the diagrams.

Typically, you would connect the pitch gyro to the first AD port, the side to side gyro to the second AD port, and the accelerometer to the third port.

The remote setup is covered in the same manuals, and the receiver module plugs into the low speed port next to the high speed port you have connected to your computer.

[igor]

The accessory installation and setup instructions are documented pretty well in the intermediate section of the RCB3J English manual, though the mounting/location information is better in the service packs downloadable from the Kondo website. The service packs are only in Japanese, but are fairly easy to follow from the diagrams.
...

Hi,
Do you think that is possible to apply the 2HV's RCB files from Service Packs to 1HV?
Thanks.

[tempusmaster]

The accessory installation and setup instructions are documented pretty well in the intermediate section of the RCB3J English manual, though the mounting/location information is better in the service packs downloadable from the Kondo website. The service packs are only in Japanese, but are fairly easy to follow from the diagrams.
...

Hi,
Do you think that is possible to apply the 2HV's RCB files from Service Packs to 1HV?
Thanks.

Not directly, but you might have some luck editing/adjusting them. The basic challenges would be that the KHR-1HV geometry is different with the additional DOFs and higher COG, and the shoulder servos are 4024's with different rotational ranges and probably scale differently.

It wouldn't hurt to give it a try, though be prepared to catch the robot or shut it down quickly.