RSS-01 Hip Pivot extension kit for KHR2HV and Manoi

[limor]

In case you missed this gem of ingenuity, the RSS-01 Hip Pivot uses only one servo to create this pivot turning motion.

Available here: http://robosavvy.com/store/product_info ... cts_id/399

phpBB [media]

[Orac]

Hi, very nice.

For the manoi, do you know what servo is suggested?

Do you have these kits and the servos in stock?

Looking at the plates and the video, it looks to me that I would need to replace my Manoi hip servo's for the ones on the KHR series.

Thanks

[Orac]

This shows it a little clearer, does to me look like for this to work on the Manoi, the chunky 4024 servos are out and I need KHR style slimmer servos. 3 in total

http://www.robospot.jp/Movie/20071217-1.wmv

[Orac]

http://209.85.135.104/translate_c?hl=en ... 100100000/

Some good pictures and diagrams here

I had to save the pictures to my pc to expand them fuly

[wintermute]

This hip pivot system looks simpler and more efficient than the 1HV's. Moreover, it doesn't extend the length of the legs like the 1HV's does, which affects the robot's proportions, giving it a "high-waisted" appearance, and raises its center of gravity. Prior to seeing this thread I had decided to buy a 1HV, but now I'm rethinking my decision. Here's a comparison between a 1HV and a 2HV with hip pivot extension:

1HV cost:
US$1,140.44

2HV cost:
US$1091.36 (US$958.19 + US$80.48 + US$52.69 w/ 788 HV)
US$1213.35 (US$958.19 + US$80.48 + US$174.68 w/ 2350S HV)

So depending on which servo is chosen for the hip pivot kit, the 788 or the 2350, the 2HV with hip pivot kit is slightly cheaper or significantly more than the 1HV.

1HV pros:
1. 4024S HV servos for the shoulder.
2. RCB-3 controller, more capable than the 2HV's RCB-3J.
3. Foot tubs standard.

1HV cons:
1. Assembly instructions and software are in Japanese.
2. Top-heavy and somewhat ungainly looking due to the longer legs.
3. Hip pivot mechanism more complicated than necessary.

2HV pros:
1. Assembly instructions and software are in English.
2. Well balanced, both in appearance and operation.
3. Simple and efficient hip pivot mechanism.

2HV cons:
1. 788 HV servos for the shoulder.
2. RCB-3J controller.
3. Foot tubs extra.

The hip pivot-equipped 2HV is aesthetically and functionally superior to the 1HV in certain respects, but the 1HV's RCB-J and 4024 servos offer definite advantages. Then there's the English-Japanese documentation factor to consider. Following these comparisons, I'm still hanging fire, dang it.

[wintermute]

Since both legs pivot outward simultaneously, as opposed to independently like the 1HV's, I'm wondering if that imposes any limitation in movement. In other words, does the 1HV's ability to pivot each leg independently give it any advantage, movement-wise? The kit-equipped 2HV's pivot-turn in one place certainly seems as smooth and efficient as the 1HV pivot-turns I've seen.

[wintermute]

I seem to be the only one interested in comparing the one-servo pivot system with the dual-servo system used by the 1HV. That's okay, I'll press on anyway. After watching the videos and studying the drawings it would appear that the maximum angle the servos on each side can be deflected outward in order to achieve the pivot is fairly small, probably no more than 20 degrees or so, restricted by the limits of the middle pivot servo's actuating cam and arms. However, because both leg servos are deflected simultaneously, the total angle that can be achieved between legs is double that, or 40 degrees. But I'm guessing that the 1HV can rotate each leg as much as 45 degrees, which would allow a total angle of 90 degrees between legs. So I guess that answers the question I posed in the previous post, asking whether the 1HV's independent pivot servos provide an advantage movement-wise.

[RKM83]

Hey Wintermute-

I'm with you in comparing the 2HV pivot system to the dual servos on the 1HV, but don't have much to offer until I put the RSS-01 on my 2HV, which I should have installed within the next two weeks.

[limor]

Here is the Japanese manual:

http://robosavvy.com/store/images/kondo/RSS-01.pdf

[Orac]

Shame they didn't show any Manoi information in the manual, although it does mention the name at the top.

Looks like I would need 3 servos for this kit to work on the Manoi.

It seems to increase the torso length by about an inch which may also mean replacing all the servo cables for the whole leg.

Orac

[ATOM]

I have installed the RSS-01 on my 1hv after instability issues with the 1hv setup. I am quite impressed with the kit. It has made the robot much more stable and works great with the downloaded files from kondo. I did however have to modify the front and rear plates to work with the wider shoulder servos. I also assume there would be some slight modification to install it on a manoi as well. I will find out after I get my AT01 next month.

[tom_chang79]

I seem to be the only one interested in comparing the one-servo pivot system with the dual-servo system used by the 1HV.

I actually found your comparisons very interesting

I've been following the 1HV and 2HV for a while, and when this pivot servo mod came out for the 2HV, I thought it was the coolest mod for it, since I didn't really like any biped humanoids that didn't have hip rotate, forcing it to do the "scissor" motion to turn left or right. The "scissor" maneuver always assumes you are on a hard, smooth surface. With hip rotate, being able to turn by lifting the feet and pivoting the hip is so much more ideal. This is the reason why I tend to be more of a 1HV fan then a 2HV (although 2HV owners, upgrades, addons, comprises a much more higher proportion in the overall Kondo world).

I don't own a Kondo myself, but if I had a 2HV platform, I'd definitely get this kit for it. However, if I was to buy a Kondo, I'd still go for the 1HV since I love the two extra DOFs at the hips.

[jayjayn]

could you please post what modifications was required to put the rss-01 into the khr-1hv? pictures please thank you.