Which KHR came first?

[evaderdjo]

I don't know which version of the Kondo KHR came out first. I read someplace that the KHR-1HV came out first in late 2005 and that the KHR-2HV was released in early 2006. I also read somewhere else that the 1HV is supposed to be an upgrade from the 2HV, but how is that possible if the 1HV came out first? Do the release dates differ between Japan, Europe and the US? How can you tell the difference between them just by looking? Will humanoids follow the same pattern as cars, where each year a new model comes out?

[tempusmaster]

I don't know which version of the Kondo KHR came out first. I read someplace that the KHR-1HV came out first in late 2005 and that the KHR-2HV was released in early 2006. I also read somewhere else that the 1HV is supposed to be an upgrade from the 2HV, but how is that possible if the 1HV came out first? Do the release dates differ between Japan, Europe and the US? How can you tell the difference between them just by looking? Will humanoids follow the same pattern as cars, where each year a new model comes out?

The original KHR-1 was released in the summer of 2004 in Japan, and shortly was available via online distributors in the US and Europe shortly thereafter. Somewhat later Kondo released a mod-kit to add additional leg rotation at the hip which increased the DOF from 17 to 19.

In the summer of 2006, Kondo released the KHR-2HV which has replaced the original KHR-1 design. In late 2006 they released the KHR-1HV, which follows the basic KHR-2HV design but includes the leg rotation at the hip, and KRS-4000 series servos for the shoulder rotation.

Once a new robot like this is released in Japan, they are generally available overseas through distributors, but the English version of the software and doc's usually takes a while, and sometimes isn't released. For example, the KHR-2HV has English software and doc's, but the KHR-1HV doesn't.

Yes, you can tell the difference by just looking. The original KHR-1 uses all metal brackets. The KHR-2HV uses plastic servo brackets, and has a slightly different leg design. The KHR-2HV is taller because of the additional DOF/servos.

As for new models every year - things aren't that mature yet. Companies release new models according to their own schedules, which sometimes seem puzzling.

[evaderdjo]

Thanks for the info. It makes sense now why the KHR-1HV costs more than the 2HV, because of the two extra servos.

Kondo picked a confusing way to name their models. So is the original KHR-1 (either with 17 or 19 DOF) still available? How much did the original KHR-1 cost?

[tempusmaster]

Thanks for the info. It makes sense now why the KHR-1HV costs more than the 2HV, because of the two extra servos.

Two extra servos = more DOF for movement. The change in shoulder rotation servos also gives it more arm movement, and more torque. And, it uses the RCB3 controller instead of the RCB3J - which isn't a huge difference unless you really want to get into motion creation pretty deeply.

Kondo picked a confusing way to name their models.

I know... That was explained to them quite a few times beforehand, but they decided to go with it anyway, I think because of the emotional connection with the original kit.

So is the original KHR-1 (either with 17 or 19 DOF) still available?

You might find some in the distributor stock some place, but I don't recommend them at this point. The KHR-1 used the RCB1 controller - two of them actually - and although it was great at the time, the perfomance just doesn't compare to the KHR-2HV. For one thing, the KHR-1 resolution was 1 degree of rotation while the KHR-2HV with the RCB3J is 0.345 degrees - about three times better.

How much did the original KHR-1 cost?

At the time it was the first and only kit on the market. In Japan they sold for around $1,200 and some of the overseas distributors charged from $1,400 up.