KHR-1HV CD-ROM Motions

[MistStrider]

Hi guys

I've just finished building my KHR-1HV using a mixture of the english KHR-2HV docs and the untranslated docs that came with the kit. The build was fun .

I've translated some of the Japanese docs regarding ICS setup and home position and have managed to get him to move into the home position when powered on. Everything is looking cool (When I have more I'll drop this into the forums as its just scraps in a word document at the moment)

So I tried to use some of the other sample motions provided on the CD however all but 2 will load into HTH3. I've tried the english version HTH for the KHR-2HV with the same results. They just error?! The only one I've managed to get working other than the initial startup is a cool little bow motion (8 or 9 i think in the list), which works fantastic, very smooth. Has anybody else come across this?

I wanna make him walk

Also considering how smooth the bow motion is why is the initial startup to home position so aggressive? I've tried adjusting the speed setting in the HomeDLG down to 10 but it has no effect when loaded into the controller??!!

Cheers guys

[Robo1]

Might be a stupid question have you tried renaming the files so that there in english. I had to do this will my KHR-2.

bren

[MistStrider]

Not a stupid question
That worked thanks man

Wow those extra DOF for rotating the legs are fantastic. Turning on the spot is so graceful

[PaulP]

Hi MistStrider

Join the club

Finished mine last week.

Arent they just great....

[PaulP]

Just a thought, Mine had the problem of agressive startup, turns out I missed a step on the initial configuration with H2H...

Also check that in the options dialog, you set the

"Playing the motion scenario with the start switch" to either OFF in which case nothing appears to happen at startup or to the Startup motion you build from the manual and have saved to the rcb memory in which case it should initially free all servis then move slowly to the start position

Hope this helps

oh BTW Hi Neighbour

[MistStrider]

Thanks for the welcome and yeah they are cool robots

I'll run through the setup again and have a look at my options tonight. Cheers for the advice.

I did as Robo1 said and renamed all the motions so they just include the initial number and the file .ext and they all work a treat. Walking is just so fast lol. I love the side steps and the turning on the spot .

Unfortunatly after running them a couple of times I lost a servo. CH3 in the upper arm. So I swapped it with his head so he's headless now. Lol

I'll have to look into getting some spares for him.

Bad servo is strange though. I placed it in CH1 and re-ran the ICS on CH1 only to check everything was okay. I then opened up a POS and disabled all servo channels but CH1. The servo only responds to massive movements on the slider and even then only moves a little bit

[PaulP]

Whoa, mine did exactly the same, I lost Channel 8 in the lower right arm which I swapped for the head, then Channel 17 failed on the hip movement..

2 channels down = no robot...

When I tested mine with ICS they all appear okay but only respond to massive movements. The one has stopped responding altogether now...

I was advised that it was not likely to be a faulty servo or a fault with the robot but more likely something I had done wrong so I've ordered 2 new servo's to replace them.

I'm beginning to wonder now....

[lampcov]

PaulP & Mist -

A couple questions. How have your blown servo problems worked out? I was ready to purchase an AT01 but am having thoughts about the KHR-1HV.

Are you guys still happy with them? What plusses/minuses have you found?

Have you got any videos of your bots to share, 1HV vids are in short supply.

Any input you have would be appreciated.

Thanks,

Marc

[PaulP]

I am still awaiting replacement servo's that I bought myself. They are stuck in UK customs at the moment in Coventry of all places. Didn't even think they had an airport...

Plus's...
Well built and stable. good range of movement but fairly easy to keep in balance..

As splashsplat points out, the resin joints are really sturdy. the only movement you see is in the backlash of the servo gears.

Lots of spaces/places to lash additional hardware in.

Minus's...

Maybe just a touch tall and top heavy but that can be adjusted for.

Lack of documentation etc at present but its new so expected that. Maybe not a real minus.

RCB3 Protocol isnt what it might have been but it works well with the servo's.. Teach facility definitely saves the day there. Room to get an SSC and an Atmel in so might be the way.

10.8V is a damn awkward voltage. Most sensors etc say 5V to 9V max
but regulators are cheap.


I do have a video, but not sure where to post it.. Its a bit large...

[lampcov]

Thanks for the info, would love to see the vid....Coventry...been there...not good....hope the servos don't end up in some Jaguar!

Marc

[MistStrider]

PaulP's comments pretty much sum up my feelings too. Fantastic robot but its a little top heavy.

I'm waiting on my replacement servo too. Just cleared customs yesterday so should get um today (hopefully) (I ordered 3 spares just in case).

I've hammered the hell out of the remaining ones and think my failure was just bad luck. I'll drop some vids in when I've got the replacement servo installed. He's just not the same without a head lol.

I'm working out how to get the gyros installed but I'm just too busy in work to get any real time with him at the moment

I would recommend this bot to anybody but as PaulP said the docs require translation, although using most of the docs for the KHR2-HV got me to a stable home position without any real pain.

[PaulP]

Got my replacements yesterday. I have never been thru such a battle. Parcelforce sucks so much....

Mine were lost in customs for 3 days. Customs said they were cleared, nothing to pay coz humanoid robot spares and less than 10 euros anyway but parcelforce didn't know where they were and charged me £13.50 for the privilege of handling. They didn't even deliver. They said couldn't get it to me before Tuesday next week so I fetched it from Shrewsbury myself...

BTW according to customs official, if supplier writes 'robot spares' on the parcel you will get charged customs, if they write 'humanoid robot spares' you won't. God knows why but thats what they told me.

Also if customs on anything comes to less than 10 euros it is waived.

Also, again from customs guy, if you get thru any other parcel company such as UPS, TNT and all the other names, most will only charge if you are required to pay customs. If you do pay, then it is nearly half what parcelforce charge.

Anyway, enough ranting.

Robot is alive with a head and an arm now so can start 'roboting' if thats such a word......

[evaderdjo]

Out of curiosity, how many motions come with each KHR? I read in the KHR-2HV manual that there are 22 motions included. The old KHR-1 webpage has at least 7 motions, but I suspect there are more that came standard. And what about the KHR-1HV? Even if you can use all of the 2HV motions, shouldn't there be some extras to utilize the additional DOF?

[Droid Works]

Send me a PM with your email and I will send you all the American docs.
_________________
http://droidworks.org

[evaderdjo]

I have the American docs, thanks. I just want to know how many motions came with the KHR-1, KHR-2HV and KHR-1HV.