The Kondo® KHR-1 service provides a simple interface to a Kondo KHR-1 Humanoid Robot.
This sample is provided in the C# language. You can find the project files for this sample at the following location under the Microsoft Robotics Developer Studio installation folder:
Contents:
Prerequisites
Hardware
This sample requires a Kondo® KHR-1 Humanoid Robot.
Software
You will also need Microsoft Internet Explorer or another conventional web browser.
Running the Sample
To start the Kondo® KHR-1 service:
- Connect the robot to the COM1 serial port on your computer
- Turn on the robot
- Then start a node by using following command from the DSS Command Prompt:
dsshost /p:50000 /m:"samples\config\khr1services.manifest.xml"
Navigating to http://localhost:5000/khr1 will display the current state of the KHR-1 robot.
Using the Web-based UI
Moving individual servos
The KHR-1 has two servo controllers, typically identified as controller 0 and 1. The service user interface displays the id, speed and current servo settings for each controller.
To move an individual servo:
- Set a servo value to a new value. If you are not sure which servo controls which joint on the KHR-1, you should experiment with making smaller changes.
- Set the Speed for the controller. This is a measure of how quickly the servo should move. 0 is the fastest, 7 is the slowest.
- Press the Change button for the controller.
Preset Motions
It is also possible to play pre-scripted motion sets on the KHR-1. These motions need to have been loaded onto the robot using the software provided by the robot manufacturer.
To play a motion, enter the motion number into the Motion text box, and press the Play button.
Other controls
| Control | Purpose |
|---|
| Home | This sets the robots Home position to be the current position. Note: The Home position, is the position that the robot assumes when it is first powered on. |
| Read | This reads the current position of the servos |
| Sleep | Place the robot into sleep mode. This preserves battery life when the robot is not currently in use |
| Motion | When the robot is in sleep mode, this wakes the robot up and makes it responsive to motion and servo commands. |