Slippery soles. How to solve it ?

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Slippery soles. How to solve it ?

Post by inaki » Tue Mar 08, 2005 10:19 pm

Post by inaki
Tue Mar 08, 2005 10:19 pm

Well I have entered the gait programming and loading stage. All seems to work except that the KHR soles slip in any surface, from wood to short hair carpets.

Actually my KHR acts like drunk. It cannot perform well any of the intended 'motions'.

I am thinking about some sort of rubber to avoid slipping.
Anyone has solved this problem ?
Well I have entered the gait programming and loading stage. All seems to work except that the KHR soles slip in any surface, from wood to short hair carpets.

Actually my KHR acts like drunk. It cannot perform well any of the intended 'motions'.

I am thinking about some sort of rubber to avoid slipping.
Anyone has solved this problem ?
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Post by Meltdown » Tue Mar 08, 2005 11:01 pm

Post by Meltdown
Tue Mar 08, 2005 11:01 pm

Your suffering from beginners problems.
Believe me i did too!
I was the first in the western world to have a KHR-1 many months ago so i have build up some experience.

No need to rubber the soles. In fact it's a bad idea because it will only
cause the robot to trip over it's own feet. The soles need to slide.

The reason the gaits don't work is that your robot isn't adjusted the
same way as the robot they used to make the gaits.
The secret is that you have to be really anal in adjusting the home
position of the robot besides trimming the servos right (see my other reply).
This is why you don't see many gaits on the net from other KHR-1 users.
Every KHR-1 is adjusted differently so it's no use.
I used the gaits as a learning tool. To get me started.
It's better to make your own gaits tuned to your particular robot.

Very important is the speed and timing of the movements.
Best is to begin in slo-mo. Speed setting 5 and 6 are good.
To fast and the movements won't complete themselves fully so the
next position movement comes to fast/soon.
This will cause the drunk sliding effects and losing the balance due to
the robots own inertia.
Making movements is an art and a big part of the hobby.
Those japs at Robo one are very good at that!
It also requires much patience.
They have had a few years more experience with that so we are not at same level yet.

Believe me i made the same mistakes so don't worry.
Some of it will be easier when using gyros i hope.
Your suffering from beginners problems.
Believe me i did too!
I was the first in the western world to have a KHR-1 many months ago so i have build up some experience.

No need to rubber the soles. In fact it's a bad idea because it will only
cause the robot to trip over it's own feet. The soles need to slide.

The reason the gaits don't work is that your robot isn't adjusted the
same way as the robot they used to make the gaits.
The secret is that you have to be really anal in adjusting the home
position of the robot besides trimming the servos right (see my other reply).
This is why you don't see many gaits on the net from other KHR-1 users.
Every KHR-1 is adjusted differently so it's no use.
I used the gaits as a learning tool. To get me started.
It's better to make your own gaits tuned to your particular robot.

Very important is the speed and timing of the movements.
Best is to begin in slo-mo. Speed setting 5 and 6 are good.
To fast and the movements won't complete themselves fully so the
next position movement comes to fast/soon.
This will cause the drunk sliding effects and losing the balance due to
the robots own inertia.
Making movements is an art and a big part of the hobby.
Those japs at Robo one are very good at that!
It also requires much patience.
They have had a few years more experience with that so we are not at same level yet.

Believe me i made the same mistakes so don't worry.
Some of it will be easier when using gyros i hope.
Last edited by Meltdown on Tue Mar 08, 2005 11:28 pm, edited 1 time in total.
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Post by inaki » Tue Mar 08, 2005 11:24 pm

Post by inaki
Tue Mar 08, 2005 11:24 pm

Thanks. What you say makes sense. The bad of a biped robot is that the most minimum detail ruins all the work taken from a different robot.

Actually using a gyro is the only way I can think of to unify different robots.

Just out of curiosity, have you been able to make your KHR walk? Not to mention that pirouettes that we can see on videos !
Thanks. What you say makes sense. The bad of a biped robot is that the most minimum detail ruins all the work taken from a different robot.

Actually using a gyro is the only way I can think of to unify different robots.

Just out of curiosity, have you been able to make your KHR walk? Not to mention that pirouettes that we can see on videos !
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Post by Meltdown » Tue Mar 08, 2005 11:42 pm

Post by Meltdown
Tue Mar 08, 2005 11:42 pm

Once i understood the problems i now can do all the movement gaits including walking forward and backwards and sideways in 3 differend speeds in a nearly perfect strait line.
My robot has 21 servos now so i had to redo all the movements i made earlier. 8O
I made aluminium hones with ball bearings on my mill/lathe to stabilize the robot more. This was badly needed because the 21 servos changes everything like balance stability etc.
There are photos somewhere on this site of that.
The only one i can't do is the cardwheel. Gait nr7 i believe.
This is because it needs the expensive 20kg servos.
The standard servos just don't have the torque.
Once i understood the problems i now can do all the movement gaits including walking forward and backwards and sideways in 3 differend speeds in a nearly perfect strait line.
My robot has 21 servos now so i had to redo all the movements i made earlier. 8O
I made aluminium hones with ball bearings on my mill/lathe to stabilize the robot more. This was badly needed because the 21 servos changes everything like balance stability etc.
There are photos somewhere on this site of that.
The only one i can't do is the cardwheel. Gait nr7 i believe.
This is because it needs the expensive 20kg servos.
The standard servos just don't have the torque.
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