My KHR-2 has lost its mind

[Bob]

Every time I turn it on it starts walking. I can't stop it. It doesn't respond to the H2H software, which I don't think is recognizing the robot.

This started after I was able to load and execute my first motion (walk forward). The first few times everything worked normally, but about the third time I tried it the robot wouldn't stop walking...

I need some help.

[Ray]

Hi,

I think you had made the walking gait as the default startup gait

you may try using the HJH to "STOP" the motion,
this may only help in the interval between the gaits, (Try push the stop key more frequently)

.... then reprogram the startup gait which should be a simple "standup" pose.


Ray

[Bob]

Thanks Ray, that seemed to do the trick, although the STOP button would only stop the action momentarily. I finally figured out that the PAUSE button actually stopped it so I could reset it.

I'm pretty sure I didn't set the walk as the power-on movement, but even if I had why would it run continuously instead of just once?

A mystery.

[tempusmaster]

.... then reprogram the startup gait which should be a simple "standup" pose.

The power-on standup (or home position) seems to be a hold-over from the KHR-1. With the KHR-2HV you don't have to set any power on motion sequence. A lot of the builders over here, including me, don't setup a power on motion since it consumes power.

[Bob]

Thanks for the tip.

I am just getting into setting up the gyro. I understand the idea, but the documentation is kind of mysterious.

Where/how do you actually mount the gyro physically? and which of the joints should it be programmed to affect?

Any advice will be appreciated.

[Ray]

KONDO has fomally introduce a startup motion which is officially included in his web site.

This startup motion is important for it read the initial state of the servo and lossen then once the robot startup.

This action can reduce a studden change of servos when startup whcih may hurt the people or the robot. (Like the RN basic does)


I don't known why a standing gait would waste energy and in fact, KHR2 is always standing if no instruction is given, and the servos are still using the battery and the CPU are still running its house-keeping routine.

[Ray]

Hi,

for installation of gyro, you can download a sp1 service pack from kondo:

http://translate.google.com/translate?h ... D%26sa%3DG


although it is in japanese, you can guess it from the figure of the advance manu in pdf.

translation tools from the web is also possible (but not so good translation)
http://www.excite.co.jp/world/english/

Good Luck.


Ray

[tempusmaster]

KONDO has fomally introduce a startup motion which is officially included in his web site.

That's true. They also show the startup motion mapped to a keypress combination on the remote control (I think it's shift4 plus two other keys, but I don't have it in front of me right now.)

The nice KHR-2HV feature is that you have the choice of using a startup motion or not. With the KHR-1 there was no choice. Now you can have it execute automatically, or trigger it from the remote control or computer.

This startup motion is important for it read the initial state of the servo and lossen then once the robot startup.

This action can reduce a studden change of servos when startup whcih may hurt the people or the robot. (Like the RN basic does)

Perhaps my experience is a little different. As long as my robot's servos are fairly close to the home position there is very little jerking - some, but nothing major.

Another reason I tend to keep the startup motion off is that I like to demo the robot by laying it down on it's back then turn the power on and step away. Then tell it to startup, and then stand up. It seems to be more impressive.

I don't known why a standing gait would waste energy and in fact, KHR2 is always standing if no instruction is given, and the servos are still using the battery and the CPU are still running its house-keeping routine.

If you don't have the startup set to execute automatically, then no instruction is given, and the servos are free until you send the first command.

[Ray]

[quote="tempusmasterIf you don't have the startup set to execute automatically, then no instruction is given, and the servos are free until you send the first command.[/quote]


First of all,

1) The startup motion is excuted once and usually no repetition
you can program it to loose all the servos as you like to "Save energy",

technical, and in an engineering mind, that's good to

[Ray]

[quote="tempusmasterIf you don't have the startup set to execute automatically, then no instruction is given, and the servos are free until you send the first command.[/quote]


First of all,

1) The startup motion is usually excuted once and usually no repetition,
you can program it to loose all the servos as you like to
"SAVE ENERGY", or stray it in standup position. .....it is very flexible.
OR you can even loose your robot at any time in any saved pattern,
I have made a key, so that KHR2 can sit indefinitely until I press a
key again...... it is up to you.

2) FOR BEGINNER, like Bob, who need to play the demo motion written
by KONDO, ALL the motion, after executed, REMAINED in a STANDUP
position

3) A "LOOSE" initial state is USELESS ! unless you are the so-called
specialist, who know, and will reprogram all of his special motion.
AND, LOSSEN the servo as needed.

Technical, and in an engineering mind, that's good to save the battery
capacity especially for a special duty robot, but, for me, a hobby user,
I don't care and just recharge it.
Its up to you!

I wrote suggestion to Bob, because no one answer his problem long time until someone had made it.
As a robot hobby, I hope others can enjoy playing his robot.
I share my experience to help them to start.
I just give my suggest, and not necessary to tell others to follow exactly as me do, and no need to say, many people had followed my method.

we just share experience.
I hope it is the aim of this web site.


Ray

[tempusmaster]

we just share experience.
I hope it is the aim of this web site.

Ray

Exactly.

[Bob]

Hi Ray,

Thanks for the pointer to the SP1 manual. Just what I needed!

Now I need to buy another KRG-3 (only one came with my kit) and an RAS-1.

Oh, yeah and it would be really swell if somebody has translated this manual into English. My Japanese is a little rusty.

[fatman]

hey ho

bob, pop over to the document section and grab the english version of the RCB-3J manual,it has information/intructions for the gyro and accellerometer, as far as mounting the japanese version of RCB-3J manual (can be found on kondo website) has nice pictures to show where you can mount everything

here is the link to the english manual.....

http://www.robosavvy.com/RoboSavvyPages ... manual.pdf

oh...a little off topic i know...but here is a picture of my new bike...triumph rocket3...riding this beast gives you a PERMAGRIN
check it out....
http://robosavvy.com/Builders/fatman/r111.jpg

[tempusmaster]

oh...a little off topic i know...but here is a picture of my new bike...triumph rocket3...riding this beast gives you a PERMAGRIN
check it out....
http://robosavvy.com/Builders/fatman/r111.jpg

Totally outrageous! 8O
I can't begin to tell you how jealous I am!
Living here in Japan I've had to pretty much give up motorcycles, and cars for that matter. The operating costs are way too high for my budget, and there is literally no 'open road' to get out and really enjoy them.