Smooth Motions – Kondo KHR-2HV Robot (Video)

Robot
Humanoid robot motions have been rapidly improving over the past two years. Regular readers of Robots Dreams have seen quite a few videos that illustrate the smooth motions that the new Kyosho MANOI AT01 can achieve. 

It turns out that the AT01's close "cousin under-the-skin", the Kondo KHR-2HV is also able to produce very human like motions, as you can see from the video clip below.


While they use different servo models with different torques and a slightly different controller board, both the AT01 and the KHR-2HV take advantage of Kondo's second generation technology to make it possible to create more realistic movement.

With first generation designs, like the KHR-1 and the Hitec Robonova-1, the operator would define the desired position of any given servo in roughly one degree increments. Newer designs, that we arbitrarily refer to as 'second generation', allow the operator to define the desired servo position with much finer control - down to small fractions of a degree. This results in much better posture and positioning, as well as more stable walking and movement in general.

That doesn't imply that the servos can consistently be moved in tiny increments - physical limitations like inertia, gear train hysteresis, slack, and friction can never be ignored. However, if the servo is moving over a range of degrees, it is possible to control it's final position much more accurately and finer than any first generation controller/servo combination.

Here's a good example taken during a Kondo KHR-2HV demonstration at the ROBO-ONE 10 competition in Nagai:

You might also enjoy:

  1. Project M: MANOI AT01Practices Soccer Moves (Video)
  2. Kondo Discloses RCB-3 Robot Controller Command Formats
  3. Real Robot Movement
  4. Kondo Ready To Raise The Performance Standard (Video)
  5. Kondo Releases RCB Commander 3 Application
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4 comments

  1. I especially like the part in the video of the KHR-2HV jumping. That, to me, is pretty amazing. You are right though, the motion has vastly improved (in some robots). The new Futaba robot looks terrible though (http://www.robots-dreams.com/2006/10/futaba_takes_th.html) on thought on why this is?

  2. Now Thats what I’m talking about! It looks like this Version has the speed and torque in the servos to really be able to do some mind blowing things.

    I want to get into robotics but the previous products where too toy like. From this video I can see that this is more like a scientific/advanced Robotic kit.

    I still don’t understand why the company or current robot owners don’t begin programming some dance routines for the KHR-2. I mean Sony demos the QRIO that way and it gets global press. Hello? DO you know how many posts there are all over the net about peaple asking to buy the QRIO based on just it’s dance routines and look? If KHR-2 can just get close to the QRIO in smooth movement this kit will have found it’s “killer app”.

    Also when are they gonna get smart and put some MECH styled skin or frames on these kits? Hello? Every kid in the world that loves Transformers or Anime will pay anything to have one. If any of these companies need a PR or marketing talent, I have more ideas.

  3. I have a KHR-2HV and am looking for some premade motions that illustrate the use of the Gyros, especially the dynamic mixing. Anybody out there have anything to share?

    • Hey Bob, did you ever manage to program your khr-2hv? I am able to manipulate the servo positions using heart to heart 3. I cannot for the life of me figure out why the example motions won’t run. I write the program to m1, “write successful”, press play : m1, “sending the play command”, and nothing happens… Any suggestions?

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