Over two years ago, one of the very first Kondo KHR-1 humanoid robots found its way to Europe and was purchased by Michael (aka "Meltdown" on the popular Robosavvy Robot forums). Not only was Michael able to successfully assemble, test, and program the robot, he also proceeded to extensively hack and improve upon it.
Michael is currently considering upgrading the robots controller to the new RCB3 board from Kondo. But before he tackles that conversion, he was kind enough to share some great photos and the details of his KHR-1 modifications.
Keep in mind that when Michael was doing these modifications most people in Europe had no idea what a KHR-1 was and had never seen one before. Support forums, like Robosavvy, were just starting up. In fact, he was the third member to join Robosavvy, and probably the very first KHR-1 builder in Europe. Still, he was brave enough to break totally new ground.
Here's what Michael shared about the KHR-1 and his modifications:
An older photo of the KHR-1 before the lipo and bluetooth modifications.
Each foot contains a 1800mha lipo cell. When one cell runs out, I can switch to the cell in the other foot; Circuitry for converting 7.4v to 6v (7ampsx2); Orange charging connector; Switch for on and off so it doesn't drain the lipo when not in use; Ultra bright Led circuitry for warning when lipo voltage drops under 6v.
Gyro bypass circuitry x2. This bypasses the gyro when in teaching mode so i don't have to rewire the gyros all the time. One flick of the switch and the gyro is back for action. The pcb sits right on top of the gyros so no additional wires required. These are not soldered but snap on so you can remove the pcb easily.
Extra servos for legs and arms. Most servos are modified the following way:
- The hones are not screwed on from the top of the hone like normal. This wouldn't be strong enough and will introduce slop.
- A bolt is running through the back of main gear from the inside to the outside of the servo through the hone and is locked with a self
- Together with the stabilizing rings you can see in the shoulders this takes out any slop. In fact there none!
The shoulders and leg servos have white stabilizer rings so there no slop whatsoever. All servo hones are ball raced. Notice the serial plug between his legs. This is the bluetooth module that i build inside where normally the standard battery would sit. The bluetooth module is permanently wired internally but i left this connector outside to be able to use the servo manager and gyro manager.