Post by Admin on Jan 3, 2016 20:32:53 GMT
Possibly the most established & Perhaps more popular hobby level humanoid commercially available today is the Kondo KHR-3HV.
Despite its relatively tiny size in comparison to Teen/Adult sized humanoids, it is impossible to ignore the KHR-3HV after having seen Masahiko Yamaguchi's (Dr Guero) astonishing work with his slightly modified (Primer V5) version.
Moreover it's interesting to compare the basic specs between both the regular Kondo & Yamaguchi's version.
Yamaguchi's noteworthy past includes tenure at Japan's National Institute of Advanced Industrial Science & Technology, and, wait for it,.. Boston Dynamics.
Yamaguchi has developed a number of the Kondo KHR-3HV variants, each individually adapted to perform specific tasks. Yamaguchi has used a range of fascinating novel ideas for bipedal control, from utilising two PC's simultaneously (one motor cortex functions, running in parallel with another performing basic functions based on past experiences), to creating control algorithms which use a smooth curve applied to the beginning and end of the servo drive rather, than the typical steep control seen in bipedal control.
Certainly, much insights into new & novel approaches to bipedal control can be gained from im investigating the Kondo KHR-3HV platform, some of these strategies could, potentially be ported over to the control methods of a much larger platform.
Regular KHR-3HV stats
Servo Torque: 1.37Nm
KRS-2552RHV (ICS3.5 protocol)
0.0137Nm per 1% (17g) body weight
Servo Weight: 41.5grams
Servo Dims: W22xH41xD30.5
Number of Servo's: 22
Total Servo (22x) Weight: 0.91kg
Rpm: 71
Total KHR-3HV Weight: 1.707kg
Servo's accountable weight: 53.3%
KHR-3HV height: 401mm
Overall Leg Length: 194.5mm
Foot Width: 43mm (estimate)
Compared to specs of Masahiko Yamaguchi's (Dr Guero) modified KHR-3HV (Primer V5).
Servo Torque: 1.37Nm
KRS-2552RHV (ICS3.5 protocol)
0.0137Nm per 1% (14.25g) body weight
Servo Weight: 41.5grams
Servo Dims: W22xH41xD30.5
Number of Servo's: 16
Total Servo (16x) Weight: 0.664kg
Rpm: 71
Total KHR-3HV Weight: 1.425kg
Servo's accountable weight: 46.6%
KHR-3HV height: 380mm
Foot Width: 24mm
Despite its relatively tiny size in comparison to Teen/Adult sized humanoids, it is impossible to ignore the KHR-3HV after having seen Masahiko Yamaguchi's (Dr Guero) astonishing work with his slightly modified (Primer V5) version.
Moreover it's interesting to compare the basic specs between both the regular Kondo & Yamaguchi's version.
Yamaguchi's noteworthy past includes tenure at Japan's National Institute of Advanced Industrial Science & Technology, and, wait for it,.. Boston Dynamics.
Yamaguchi has developed a number of the Kondo KHR-3HV variants, each individually adapted to perform specific tasks. Yamaguchi has used a range of fascinating novel ideas for bipedal control, from utilising two PC's simultaneously (one motor cortex functions, running in parallel with another performing basic functions based on past experiences), to creating control algorithms which use a smooth curve applied to the beginning and end of the servo drive rather, than the typical steep control seen in bipedal control.
Certainly, much insights into new & novel approaches to bipedal control can be gained from im investigating the Kondo KHR-3HV platform, some of these strategies could, potentially be ported over to the control methods of a much larger platform.
Regular KHR-3HV stats
Servo Torque: 1.37Nm
KRS-2552RHV (ICS3.5 protocol)
0.0137Nm per 1% (17g) body weight
Servo Weight: 41.5grams
Servo Dims: W22xH41xD30.5
Number of Servo's: 22
Total Servo (22x) Weight: 0.91kg
Rpm: 71
Total KHR-3HV Weight: 1.707kg
Servo's accountable weight: 53.3%
KHR-3HV height: 401mm
Overall Leg Length: 194.5mm
Foot Width: 43mm (estimate)
Compared to specs of Masahiko Yamaguchi's (Dr Guero) modified KHR-3HV (Primer V5).
Servo Torque: 1.37Nm
KRS-2552RHV (ICS3.5 protocol)
0.0137Nm per 1% (14.25g) body weight
Servo Weight: 41.5grams
Servo Dims: W22xH41xD30.5
Number of Servo's: 16
Total Servo (16x) Weight: 0.664kg
Rpm: 71
Total KHR-3HV Weight: 1.425kg
Servo's accountable weight: 46.6%
KHR-3HV height: 380mm
Foot Width: 24mm