Hello! this is very nice! how much did your bluetooth cost? and, how does wi-fi work? it’s like with a D-link right? or am I realy off?
The bluetooth In mine is this one
sparkfun.com/commerce/produc … cts_id=158
they also do one without an aerial though inside a robot it could get shielded
sparkfun.com/commerce/produc … cts_id=582
You also need this or similar in your PC
sparkfun.com/commerce/produc … cts_id=150
The module is serial data out at TTL levels so it connects directly to the SSC-32. On the P.C. it appears as a COM Port
Bluetooth at spark is about $60 I think. WiFi works by transmitting a signal back and forth using the WiFi card in your PC and the wifi card on your bot.
D-Link is just a company that makes routers and network stuff.
yeah I know, but I saw one guy controliung his robots via the D-link…
Hi
How about making the feet a litter larger, and putting the battery near the feet. split the battery into two and put one in each foot.
I did for one of my project, and it seem to work.
However you need to have a stronger servo for the hip.
The problem of putting all the weight on the body…with a tall skinny robot… you lose the center of gravity…
The only way to fix this is make the leg more curve…(ie make the knee bent more) and modified the leg to be thicker and add some weight to the leg. Just some thing you might want to consider.
Just in case you don’t want to burn your kondo servo since they are expensive… You might want to try NoName brand for testing purpose.
NoName brand Metal Servo 11kg.cm cost about $8 each…
running at 6V… I have tried them… they seems to be OK for the price you pay.
The feet are already quite big. I did think about that route…
The battery is a pain as its a wrapped unit and would mean some quite extensive wiring to move them though it is an option…
The servos are 10Kg torque already. I think the main thing they need is to fit bearings and metal gears throughout. They are already part metal geared as standard.
I’ve done gaits where you bend the knees and lower the body. The do work but you have to increase the speed quite dramatically so the robot hurtles across the table and is difficult to control when it stops.
As the guys here at LM know (they helped me fix them) I’ve already had servo failures though things are holding up now.
I/m currently working on a gait that is a bit quicker and doesnt cause so much side to side movement. Ill let you know how it goes when I get there…
Heres a better, quicker walk…
youtube.com/watch?v=eNxdDNBPvQU
This one is awkward to get started and stop but thats probably because I havent worked out SEQ’s finer points yet.
Its not as unstable as the earlier one but there is still some movement. It doesnt get near the critical falling angle to the side now.
Very nice! 
Gota love the 1HV, mine is my pride and joy.
PaulP, awesome video of the KHR-1HV. Videos of these robots are rare, since majority of Kondo owners who posts videos are KHR-2HV owners… Crabfu has a pretty good fluid gait of his 2HV walking, but with the two extra DOF from the hip rotation that the 1HV offers, it is much more challenging since the extra height, but at the same time, offers a better turning gait…
The SSC-32 is a good choice, it’s a very good servo controller. I have been using this on my LM bots for a couple of years now and it keeps on ticking and trouble-free… The ability to send out PWM on 32 channels, what can I say?
I’m actually fiddling around with a Bioloid Humanoid, which also has hip rotation. The demo walking motion that is packaged in their software suite makes it look simple to implement, but upon doing my own motion, it is quite a tedious and somewhat empirical, since there are so many servos to keep track of (18 + 1 more I stuck into the waist for waist rotation)
The BRAT is an awesome platform to start on the road to bipedal robots. I bought a scout when the aluminum version was first released and a few months later, the BRAT was introduced. I was amazed at the fact that the BRAT can walk biped with half the servo count of the scout. Sure, the articulation isn’t as good as a scout, but with six servos for biped motion, it’s amazing…
The Bioloid kit is a very cheap way to get a decent humanoid, but IMO, if you want a good humanoid with brute servos, LM’s way is probably the cheapest way to go. I’ve estimated that you can build a hip-rotation biped humanoid with 18 HSR-5990TGs for under $2500 if you go the LM’s route.
Kondos do have a huge following and have lots of nice accessories if you’re into that sort of thing. Kondos have many 3rd party shells that you can use to dress up your bot, although getting your hands on some seems to be troublesome for those of us in North America.
I digress, the 1HV is a beautiful machine, and is one of the best of the best when it comes to humanoid kits. LM’s are in a category of its own since ou select and choose what you want to build…
Well said tom, im currently working on a brat right now and its simply and amazing kit. Ive learned alot from using it and the visual seq. Im interested in getting a humanoid kit to advance on, but i dont know what humanoid to choose, have any suggestions?
There are many ways you can expand the BRAT - adding hip rotate, ankle rotation maybe, arms of varying DOF, adding sensors, adding a pan/tilt head, making it autonomous, etc. I have my own ideas on how to add arms and how to build them.
I am also working on a BRAT, and have ideas of where to add sensors, a pan/tilt head, etc. You will be seeing a lot of this in the near future, just as you can see what Mike (SN96) is doing with his own BRAT.
The BRAT is a great base to start from and add on to. I am making mine walk using an Atom PRO and HSERVO.
8-Dale
Hey linuxguy!
thanks for the responce, the BRAT is defintely a unique kit. My only problem is knowing how to make those additions you mentioned. Are you using a ssc-32 with the atom pro? or using the bot boards pins to control the servos? Last question :mrgreen: lare the robonavs brackets the same size as the SES ones?
No, I don’t think the Robonova brackets are the same size as the LM ones. LM’s brackets are really for “standard” size hobby servos. Robonova brackets are especially made for Hitec’s “Robot” servos (not to be confused with their HSR-series standard servos) which are made specifically for the Robonova.
LM carries both their brackets and Robonova’s so you can’t go wrong with either one. The colored brackets are pretty neat accessory to have.
If you already have the brat, you can continue on by adding more SES brackets and components and make a biped pete or something out of it. Of course, the servos have to be considered since the Brat probably came with servos that were strong enough for it but probably not strong enough for a full blown humanoid with 4 or more DOF per leg…
For humanoids, check out this site:
They have an awesome and comprehensive comparisons of all the humanoid kits out there. Their charts were quite informative on power, height, price comparison… I ended up with a Bioloid kit myself, it’s great, but I still consider my CH3-R (that I converted from a biped scout with more brackets and servos) the crown jewel of my robot collection. A hexapod is an awesome form of pedal robots and LM’s approach to robotics is more open and “wild west” approach IMO so you have a more full control over it. It can be overwhelming for some who doesn’t like to do much software development, but for those of us who do, these kinds of open robots are the best…
Check out the robotservicesgroup.com and also “what can I build” in the SES section at LM’s dot com site. Read all the manuals, assembly guides, etc… It’s an expensive purchase so make sure you know what you are getting into…
It also makes it easier to build a 'bot if you can buy the parts a few at a time.
I do much enjoy thinking about and designing the code. Probably the best part.
I also enjoy the metal work. CAD is fun as well.
Alan KM6VV
Hey, thanks for the link.
With the site i was able to get a decent comparison of all the robots mentioned. Well ive now learned the robonova got a mediocre rating because of its servos arent fast enough for me to spend the money on. My ultimate goal is to create a humanoid with fluid motions (walk fast and be stable while doing it)and an intermediate AI system and a LCD display to show “expressions”.
This project is definetly going to cost me alot and alot of time. I would get a bioloid, but the problem for me is expandibility because the servos are custom design and dont go with standerd brackets.
What i think im going to end up doing is getting the robonova brackets, and getting servos one at a time for it. Only questions… What servos can do what im looking for (fluid motion)? And whats a good controller for AI, sensors, Etc.
The humanoid is my main project and hardest, my others are a small quadropod that ill make with the 85mg servo and brackets as well as my teleprecence Boe Bot which is in development now.
Atom PRO on the Bot Board II using HSERVO (servo connections direct to the Bot Board II pins).
No, the Robonova brackets are a completely different set of brackets and are not compatible with the SES unless somebody makes adapter brackets.
8-Dale
Very true. My BRAT has HS-475HB servos, but these are not going to be enough by themselves if I add another DOF to each leg. I’ll want to beef at least some of the joints up with HS-645MG servos. This would be true also if I add waist rotation and/or hip rotation with or without arms. There are not many good places to put sensors on a BRAT, aside from a pan/tilt head, but I have some other ideas as well.
8-Dale
Well ive decided, and i think im going to do what i said and buy the robonova brackets and over time get good servos for it and then hack and expand upon it. Anybody got suggestions for fast, strong, and smooth servos? (for legs, arms, shoulder)
IMO, none of the Hitec’s servos for the Robonovas are up to par with “monster” torque kinda of a category. However, Hitec’s standard servos are…
My opinion, if you want something that is scalable, a Bioloid kit, Kondo kit, and LM’s SES brackets will all suit you. However, with a Bioloid, you are limited with the type of servo you want to use, which is the AX-12+, which has the best stall torque out of the bunch. Kondo kits, you can later “upgrade” your servos with some monster ones they offer (quite pricey for what you get), but I wonder how reliable they are with no heat sinking internally for the monster torque they are generating. Since they are compatible with KHRs so if you own one, you are stuck in this route also.
LM’s SES set is probably the most flexible. If you couple it with Hitec’s latest and greatest servos, such as the HSR-5990TG, which has gobs of torque and fairly cheap relative to other servos that pack the same power and features.
http://www2.gpmd.com/image/h/hrcm5990.jpg
I would start off with 16 of those, and build yourself LM’s biped humanoid kit with the humanoid chassis. That would be a great start.
Or you can go for 12 of those, skip the arms, and do a biped scout with those.
HSR-5990TG servos with LM’s SES brackets + LM’s SSC-32 and Bot Board is the most cost-effective way to get yourself one of the highest quality humanoid bots out there.
One of the con of Bioloids and Kondos are that they use plastic brackets. I’m willing to look past that but if you want an almost-all-aluminum based robot, and you want to implement with standard servos, LM’s route is probably the way to go.
As for Robonova servos, since they are made by Hitec, I think it’s only a matter of time before they start incorporating whatever they have inside their HSR-5990TG into Robonova’s Robot servos…