KHR-1 versus KHR-2HV

[tom_chang79]

Aside from the servo consideration, is a KHR-1 worth getting over a KHR-2HV for the aluminum brackets?

[ATOM]

I suppose its up to what your building the robot for. I wanted a fast soccer, fighting robot. But My khr-1hv seemed too top heavy with the extra servos to be quick and functional. I don't know how others are doing with their 1hv's but I also noticed that there wasn't many 1hv's in the kondo cup if any. I have removed the hip servos and added the rss-01 and in my opinion is now a more stable set up. But I still think the 1hv was still the optimum choice for me, with the upgrade rcb, the shoulder servos, and extra leg servos which are know used in the arms. I also have to warn you that the rss-01 wasn't a direct fit and had to be modified to fit. So you might take that in to consideration if you don't want a lot of hassle when building your bot.

[RKM83]

Like Atom. I wanted a robot for soccer and fighting, but went with the 2HV. Except for the shoulders you get the same power. The 2HV is lighter which makes it faster. As for the the upgraded RCB, don't know how many people are taking advantage of the upgrade. You can also use the money you save on the 2HV to get the RSS-01 and KRS-2350 servo.

[tom_chang79]

What I really meant was the original KHR-1 (not the 1HV) versus the 2HV, which is the successor to the 1.

The 1HV is quite formidabble, it has two extra DOFs, but it still is similar to the 2HV in the respect that it uses plastic brackets in various places...

I noticed that the original "1" (KHR-1 ) uses all-aluminum brackets... Seems to me that it should be sturdier. Plus it seems like it was a tad bit shorter then the 2HV, which would imply a lower center of gravity?

[ATOM]

From what I have seen in clips off the internet. The Khr-1 seems a bit shorter in the limbs(legs and arms). This might make the bot a bit more stable but when motion is concerned it may also hinder the bot in speed. With a smaller stride in step it may not be able to be as quick as its successors in the series. I find my modified khr-1hv to be stable enough for advanced soccer motions plus with a decent amount speed and agility. Also I do not have the upgrade servos yet as I am still debating on the striker kit (2350) or custom manoi style servos(4014). As for the metal brackets I think the plastic ones with the 2 and 1hv are good enough for the basics and advanced motions. I do have to regularly re-torque them occasionally, but I assume that typical maintenance .If you are concerned with sturdiness I think also that if the bots too stiff it might affect balance negatively. By being to stiff gives no room for play in natural stance. This is why I think Kondo has used the plastic brackets in the newer series. I'm sure it would have been just as easy and affordable to produce metal brackets. Just my take on it..

[limor]

The KHR-1 have been out of production for a long time.
Unless you find a used one, you better aspire to one of the HV series.