KHR-2HV !!!

[limor]

They kept things very secret but finally it has been announced.

Here's a translation from the Kondo Page:

Light aluminum alloy frame(Anodized aluminum has been processed. )
Servo of reinforced resin construction it arm
Control board RCB-3J
Servo motor KRS-788HV ×17
Robopawarsel 10.8V-300mA nickel hydrogen battery
AC100V exclusive use charger
Manual software collection CD
Other parts
【 size 】 183×353mm
【 weight 】 1,270g(kit standard assembly)
Content of kit
A basic structure is improved following KHR-1.
A frame made of the resin and a metallic frame fuse.
For HVThe servo adopts KRS-788HV.
The control board is small and made efficient. (RCB-3J)
Adoption of main switch and Cablgaid.
The interface corresponds to USB by the standard.
New software HeartToHeart3J attachment.

http://kondo-robot.com/html/KHR2HV_ProdctNews.html

http://www.ixs.co.jp/khr-2hv-j.html


You can order it <strike>shortly</strike> here at RoboSavvy. it will be shipped from Japan as of on June 5th!
Purchase KHR-2HV

[H3dude]

holy crap. I want one.

[tempusmaster]

holy crap. I want one.

It does look very hot.

The RCB-3 controller looks extremely powerful and flexible, assuming that Kondo releases a good API or detailed documentation. I had some hands-on time with it a month ago, and wrote up this report:
http://www.robots-dreams.com/2006/04/kondo_ready_to_.html

By the way, the KHR-2HV uses a modified RCB-3 controller (RCB-3J). When I asked about the difference, the response was:

"RCB-3J is removed serial commands from RCB-3. It is customized for PWM motors for KHR-2HV."

Here's a very short video clip Moriyama took at the press announcement yesterday:
http://www.youtube.com/watch?v=NYZTBpqgWrA

Also, he mentioned that the president of Kondo said there were 8,000 KHR-1 kits sold since it was first introduced two years ago.

Correction: Kondo-san quoted in other Japanese articles as stating that there were 4,000 KHR-1 units sold, and his target for the KHR-2HV is 8,000.

It will be interesting to see more of the KHR-2HV in action, and to talk to the engineers at the two day KHR-1 Second Anniversary event here weekend after next.

[Chemical]

Wowza, this was out of nowhere!, if that video hasnt been made faster which i would guess it hasnt, KHR2 is really fast!, those flips were a hell of a lot faster and looked effortless, unlike nova/khr.

I also think it looks much better then the first, great stuff, maybe this means KHR 1 will go down a few hundred?

[tempusmaster]

Wowza, this was out of nowhere!, if that video hasnt been made faster which i would guess it hasnt, KHR2 is really fast!, those flips were a hell of a lot faster and looked effortless,

That's the actual, undoctored, speed and fluid motion in the video.

There are probably a couple of reasons for the improved performance. First the servos and the RCB-3J controller have much higher effective resolution, and it's scalable under program control.

The RCB-3J also has multiple analog inputs and uses a different gyro. That means that you can apply different scaling and mixing to the gyro input and use it to control the behavior of multiple servos instead of the single servo arrangement used by the KHR-1/RCB-1 configuration.

[gsferrari]

17 Servos....how many DOFs? Does it have the ability to rotate the legs?

[tempusmaster]

Walking:

http://robot.watch.impress.co.jp/static/2006/05/29/kondo0617.mov

Continuous cartwheels in both directions:

http://robot.watch.impress.co.jp/static/2006/05/29/kondo0616.mov

Forward rolls:

http://robot.watch.impress.co.jp/static/2006/05/29/kondo0647.mov

Hopping:

http://robot.watch.impress.co.jp/static/2006/05/29/kondo0649.mov

[tempusmaster]

17 Servos....how many DOFs? Does it have the ability to rotate the legs?

In that respect it's the same as the KHR-1 with one servo for the head, 3 in each arm, and 5 for each leg. Some of the dimensions have changed, probably because of the servos, and the foot/soles are larger. No leg 'rotation' in the sense that I think you mean though.

[gsferrari]

aaargh...thats disappointing

I am frustrated with the RN-1 because of this very reason...you cannot turn or change direction while walking in a seamless and natural manner. The robotis bioloid can do this...

For me - this is a deal breaker I know the new KHR has advanced technically...but without that range of motion that I want - it has not really moved forward

[Ray]

ya, I am also disappointed,

I don't like the pastic, it down grade the robustness of the body, although it get lighter weight. Pastic will crack in some day (agenting)

Anyway, good things are:

1) Combining 2 controller into 1 controller (RCB-3J)
2) flowchart can be used to program the KHR-2
2) LED and Sound can be program
4) 3 ANALOG input ports that can accept gyro and programed in flowchart
5) USB connection to PC

I don't know whether these PCB can be applied to KHR-1 or not [/img]

[Ray]

By the way, KHR-1 has a 2DOF Chest kit, i.e. the two legs can be rotated!
I think KHR-2 will sooner has,

[Meltdown]

My KHR-1 has rotating legs and arms.
(see my photo gallery http://robosavvy.com/Builders/Meltdown/0.htm
Just buy the extra servos needed and get creative.
Nothing to it.
You can do the same with the RN1

Don't like the plastic at all.
Don't like the change in voltage, my RK2 gyros won't work.
I'll rather buy stronger 6v servos if need be.
I'll keep my khr-1 version1 thank you.

[Ray]

Great! Meltdown

Well done, just simply 2 servo! no kit is needed!

But I have 2 question, hoping you can tell me:

1) after your new 2DOF for the leg, necessary to adjust the movement
in scenario ?

2) I think there is a little "shift" in the upper leg,
Can I have a look of your KHR in a "stand-up front view" position?

Much thank you !!

[Meltdown]

Yes Ray, you have to redo all the movements.
That's because the robot will be taller, heavier, and the geometry and balance will all change.
I will have to shoot new photos for a frontal view.
The problem is that i'm on tour right now and won't be back for 2 weeks.
I'll let you know in this thread when a frontal photo is available.

[limor]

KHR-2HV and KHR-1 side by side..