KHR-1 With Arduino

The KHR-1 is made by Kondo Kagaku (近藤科学).

It will be modified to work with a Bluetooth module and an Arduino Board.

KHR-1 Hardware:

• Servos: KRS-784 ICS
• Servo Control Board: RCB-1

We will not be using the RCB-1 for this project. Servo Control will be done by Arduino

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Servo Mapping

The Servos are mapped for reference as seen below:

Part	Left	Right
Shoulder Pitch	0	15
Shoulder Roll	1	14
Elbow	2	13
Hip Roll	3	12
Hip Pitch	4	11
Knee	5	10
Ankle Pitch	6	9
Ankle Roll	7	8
Head Pan	???

Part Terminology

Pitch and Roll

The terminology of "pitch" and "roll" is used to describe the different axes that an aircraft in flight can freely rotate about. Here we take advantage of these names to help us describe the movements of a single joint made up of many servos/motors.

Pitch:

• Aircraft: nose up or down about an axis from wing to wing
• Humanoid: face up or down about an axis from hand to hand (see image above)

Roll:

• Aircraft: rotation about an axis running from nose to tail
• Humanoid: rotation about an axis running from front to back

Yaw: (not needed for KHR-1)

• Aircraft: nose left or right about an axis running up and down
• Humanoid: face left or right about an axis running up and down