Very Strong balance technique by the God of KHR : )

KHR-1, KHR-2HV, KHR-3HV, ICS servos, RCB controllers and other Kondo products
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16 postsPage 1 of 21, 2

Very Strong balance technique by the God of KHR : )

Post by Ray » Thu Nov 26, 2009 4:21 pm

Post by Ray
Thu Nov 26, 2009 4:21 pm

This is the movie of the designer of KHR robot,

I wonder how he can use (accelerator in the body ?) to make this wounderful video :shock: :shock: :shock: :D :D :D

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He is the God of the KHR !! :lol:

Ray
This is the movie of the designer of KHR robot,

I wonder how he can use (accelerator in the body ?) to make this wounderful video :shock: :shock: :shock: :D :D :D

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He is the God of the KHR !! :lol:

Ray
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Post by BrianG » Thu Nov 26, 2009 4:56 pm

Post by BrianG
Thu Nov 26, 2009 4:56 pm

he is cheating!

see that lipo hanging out the back :)

I never tried to program in the accel sensor in tandem with the gyro's but it looks to solve the stability issue for sure.
he is cheating!

see that lipo hanging out the back :)

I never tried to program in the accel sensor in tandem with the gyro's but it looks to solve the stability issue for sure.
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Post by Musashi » Thu Nov 26, 2009 4:57 pm

Post by Musashi
Thu Nov 26, 2009 4:57 pm

Amazing! :shock:
Amazing! :shock:
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Post by Musashi » Thu Nov 26, 2009 4:58 pm

Post by Musashi
Thu Nov 26, 2009 4:58 pm

BrianG wrote:he is cheating!

see that lipo hanging out the back :)

I never tried to program in the accel sensor in tandem with the gyro's but it looks to solve the stability issue for sure.


Ahahah...right the battery pack!I didn't realize it at the first time i watched the video!
BrianG wrote:he is cheating!

see that lipo hanging out the back :)

I never tried to program in the accel sensor in tandem with the gyro's but it looks to solve the stability issue for sure.


Ahahah...right the battery pack!I didn't realize it at the first time i watched the video!
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Post by BrianG » Thu Nov 26, 2009 5:04 pm

Post by BrianG
Thu Nov 26, 2009 5:04 pm

Notice how the knees are bent, it doesn't start off that way but when he picks it up and moves it then you can see the bot is trying to lower it's CG to keep better balance.
Notice how the knees are bent, it doesn't start off that way but when he picks it up and moves it then you can see the bot is trying to lower it's CG to keep better balance.
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Post by Musashi » Thu Nov 26, 2009 5:56 pm

Post by Musashi
Thu Nov 26, 2009 5:56 pm

BrianG wrote:Notice how the knees are bent, it doesn't start off that way but when he picks it up and moves it then you can see the bot is trying to lower it's CG to keep better balance.


Mmm..i was thinking:maybe he just need to check the position of the servos to realize that kind of movement!
BrianG wrote:Notice how the knees are bent, it doesn't start off that way but when he picks it up and moves it then you can see the bot is trying to lower it's CG to keep better balance.


Mmm..i was thinking:maybe he just need to check the position of the servos to realize that kind of movement!
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Post by Ray » Thu Nov 26, 2009 6:21 pm

Post by Ray
Thu Nov 26, 2009 6:21 pm

It seem it is done by a "Surfing Board" sensor located in the chest :roll: :)

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Cheer,

Ray.
It seem it is done by a "Surfing Board" sensor located in the chest :roll: :)

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Cheer,

Ray.
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Post by BrianG » Thu Nov 26, 2009 6:39 pm

Post by BrianG
Thu Nov 26, 2009 6:39 pm

looks like a head holding gyro from a helicopter?
looks like a head holding gyro from a helicopter?
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Post by Ray » Thu Nov 26, 2009 10:56 pm

Post by Ray
Thu Nov 26, 2009 10:56 pm

yes, it may be right, but the name "Surfing Board" is the translation from his wording ジャイロ 積 サーフボード meaning ""Gyro", "Integrator" and "Surfing Board"

But, anyway, any different between a gyro and a head holding gyro ?
(I don't has idea about helicopter with head holding gyro :? )
how in software to make my accelerator like a HH Gyro ? :roll:

Cheer,

Ray.
yes, it may be right, but the name "Surfing Board" is the translation from his wording ジャイロ 積 サーフボード meaning ""Gyro", "Integrator" and "Surfing Board"

But, anyway, any different between a gyro and a head holding gyro ?
(I don't has idea about helicopter with head holding gyro :? )
how in software to make my accelerator like a HH Gyro ? :roll:

Cheer,

Ray.
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Post by Ray » Thu Nov 26, 2009 11:20 pm

Post by Ray
Thu Nov 26, 2009 11:20 pm

May be the same meaning of the word integrator + gyro, so that it always force it to the same initially position. :roll:
May be the same meaning of the word integrator + gyro, so that it always force it to the same initially position. :roll:
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Post by BrianG » Fri Nov 27, 2009 12:47 am

Post by BrianG
Fri Nov 27, 2009 12:47 am

basic gyro (rate mode) just attemps to keep the servo in the position you want it to be but acts more like a damper.

In head holding mode it will keep the servo pointing exactly where you want it to as in his video where he rotates it and the servo follows the same movement

Basic gyros will just give some "counter steer" if you will in an attempt to stop the deflection but they will still allow drift - like in a heli if the wind is pushing to rotate you will, but the head hold gyro will put full lock the other way in an attempt to hold fast the position relative to the operators stick settings.
basic gyro (rate mode) just attemps to keep the servo in the position you want it to be but acts more like a damper.

In head holding mode it will keep the servo pointing exactly where you want it to as in his video where he rotates it and the servo follows the same movement

Basic gyros will just give some "counter steer" if you will in an attempt to stop the deflection but they will still allow drift - like in a heli if the wind is pushing to rotate you will, but the head hold gyro will put full lock the other way in an attempt to hold fast the position relative to the operators stick settings.
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Post by SK » Fri Nov 27, 2009 2:39 pm

Post by SK
Fri Nov 27, 2009 2:39 pm

BrianG wrote:looks like a head holding gyro from a helicopter?

I´m pretty sure they are Silicon Sensing CRS03 gyros ( http://www.siliconsensing.com/CRS03 ). Our humanoid robots also use them. Pretty good gyros, even if a bit more expensive than most single axis solution you normally see on small humanoids IIRC.
BrianG wrote:looks like a head holding gyro from a helicopter?

I´m pretty sure they are Silicon Sensing CRS03 gyros ( http://www.siliconsensing.com/CRS03 ). Our humanoid robots also use them. Pretty good gyros, even if a bit more expensive than most single axis solution you normally see on small humanoids IIRC.
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Post by Ray » Sat Nov 28, 2009 10:27 am

Post by Ray
Sat Nov 28, 2009 10:27 am

I´m pretty sure they are Silicon Sensing CRS03 gyros ( http://www.siliconsensing.com/CRS03 ). Our humanoid robots also use them. Pretty good gyros, even if a bit more expensive than most single axis solution you normally see on small humanoids IIRC.


you are great SK!

Thanks a lot :wink:
I´m pretty sure they are Silicon Sensing CRS03 gyros ( http://www.siliconsensing.com/CRS03 ). Our humanoid robots also use them. Pretty good gyros, even if a bit more expensive than most single axis solution you normally see on small humanoids IIRC.


you are great SK!

Thanks a lot :wink:
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Post by Pskonejott » Mon Nov 30, 2009 7:00 am

Post by Pskonejott
Mon Nov 30, 2009 7:00 am

Head holding gyros are used in RC helicopters to control the tail rotor. If you apply more torque to the main rotor then the helicopter will tend to rotate in the opposite direction to the rotor. The head holding gyro adjusts the tail servo to keep the helicopter pointing in the intended direction.

So it's more than just keeping a servo pointed in the right direction, it adjusts a servo to keep the gyro orientation constant. I guess if you're talking about it in this sense you'd be looking at the output and adjusting groups of servos instead of just one to keep the gyro stable.
Head holding gyros are used in RC helicopters to control the tail rotor. If you apply more torque to the main rotor then the helicopter will tend to rotate in the opposite direction to the rotor. The head holding gyro adjusts the tail servo to keep the helicopter pointing in the intended direction.

So it's more than just keeping a servo pointed in the right direction, it adjusts a servo to keep the gyro orientation constant. I guess if you're talking about it in this sense you'd be looking at the output and adjusting groups of servos instead of just one to keep the gyro stable.
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Post by Ray » Mon Nov 30, 2009 1:06 pm

Post by Ray
Mon Nov 30, 2009 1:06 pm

So it's more than just keeping a servo pointed in the right direction, it adjusts a servo to keep the gyro orientation constant. I guess if you're talking about it in this sense you'd be looking at the output and adjusting groups of servos instead of just one to keep the gyro stable.


yes, in modern digital robot controller, such as Kondo RCB HV series, Vstone VSRC003 or that of Hitec (Robonova I), they all sampling only two gyro sensor values and apply them to a number of servos over the body and legs. This is already a known issue.

but, after a scan of the sensor, it seem it is not a heading gyro, so, there may be some signal processing inside Mr. Yoshimura's R-Blue controller, I think. :roll:

and it seem very stable and has a effect of heading gyro-like properties.
I say that, because it is not easy to use a acceleration sensor to directly control the stability due to high noise in the sensor.
I had seem a Kalman Filter video from SK, and that output is good for control. ( Sorry, can't remember the video link .....) :?

Cheer, :wink:
So it's more than just keeping a servo pointed in the right direction, it adjusts a servo to keep the gyro orientation constant. I guess if you're talking about it in this sense you'd be looking at the output and adjusting groups of servos instead of just one to keep the gyro stable.


yes, in modern digital robot controller, such as Kondo RCB HV series, Vstone VSRC003 or that of Hitec (Robonova I), they all sampling only two gyro sensor values and apply them to a number of servos over the body and legs. This is already a known issue.

but, after a scan of the sensor, it seem it is not a heading gyro, so, there may be some signal processing inside Mr. Yoshimura's R-Blue controller, I think. :roll:

and it seem very stable and has a effect of heading gyro-like properties.
I say that, because it is not easy to use a acceleration sensor to directly control the stability due to high noise in the sensor.
I had seem a Kalman Filter video from SK, and that output is good for control. ( Sorry, can't remember the video link .....) :?

Cheer, :wink:
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