My Biped Robot Page

Last Update July 4, 2014

My Robots BLACK TIGERs Specifications

「BLACK TIGER 11」Upper 2CH KRS-2350HVs Exchanged with Lower 2CH KRS-788HVs Apr 2014 

(KHR-2HV exchanged with 4 KRS-2350HVs, remodeled KHR-1:KHR Standard Regulation Class)

「BLACK TIGER NEO」 Autonomous Fight System with Hybrid Sensor System
( 4 PSD Sensors and 4 Ultrasonicwave Sensors ) Jan 2014

(Custom-Built Robot:Open Regulation Class:Autonomous Fight Robot)

「BLACK TIGER α5 (ZETA)」Hand Unit Changed to those of BLACk TIGER NEO Dec 2013 

(Custom-Built Robot:Open Regulation Class)

「BLACK TIGER β4」Leg elongated, Hand changed March 2014

(Remodeled KHR-2HV exchaned with KRS-2350HV×6, KRS-4013HV×8):Open Regulation Class under 2 kg

「BLACK TIGER L46」BT-L45 Remodeled March 2014

(New Custum-Built 4-Long Legged Robot:13 axes)

「BLACK TIGER L44」 Head and Legs Remodeled May 2011

(Custom-built 4-Legged Robot: 12 axes)

At ROBO-ONE , the battle and competition of biped robots have been done in Japan. I had been thinking to try making biped robot, but the hurdle of enrollment was difficult for the beginner.

There have been "Robot Kingdom" of the robot specialty store in the 3rd floor of the "Tsukumo Pasokon" main office at Akihabara, Tokyo. For collecting the robot information, I sometimes visited. Then I knew that a biped robot kit "KHR-1" from KONDOU KAGAKU CO.,LED was on sale. I purchased it and decided to challenge making up the robot(Aug.1st 2004).

Concerning the personal computer, being able to understand, however I had no knowledge about the robot. "KHR-1" is easily assembled with a driver, was written on the instruction manual. I recorded the process of bulding it up as the production diary and began to release in my web site (Aug.21st 2004).

I completed "KHR-1" on September 19th 2004. As the various option parts have been sold for KHR-1, those were purchased and then my KHR-1 was remodelled. The remodelling robot "BLACK TIGER" which KHR-1 as the base, was completed on June 3rd 2006. At this oppotunity of completed of "BLACK TIGER", I also started to join the competition meeting of the biped robot from June 2006.

The motion ability of "BLACK TIGER" is not so high comparing the other competitors' robots because of using the kit as the base. Therefore, I began to make the new custom built biped robot using high power acutuators on December 3rd 2006. The prototype of new custom built robot "BLACK TIGER NEO" was completed on December 31st 2006. Presently it continues to improve of the new one and to add autonomous fighting system. I also began to make a new multi-legged robot , and the prototype of the robot was completed on December 23rd, 2009.

I am writing web sites contents (in Japanese) including the diary page ( in Japanese ) as the memo/note for myself. I started to upload this site 'My Biped Robot Page' on Aug. 17th 2008 and also started blog site 'BIPED ROBOT NEWS JAPAN' on Nov. 1st, 2008 for the hobbyists of biped robot all over the world. If someone who tries to challenge in making of biped robot refers my sites, that's my pleasure.

Tsutomu IKEDA, Ph.D.
Mar. 7th, 2010

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My Biped Robot Video Diary Part 7 (2014.1〜12)

My Biped Robot Video Diary Part 6 (2013 Jan〜2013 Dec)
My Biped Robot Video Diary Part 5 (2012 Jan〜2012 Dec)
My Biped Robot Video Diary Part 4 (2011 Jan〜2011 Dec)
My Biped Robot Video Diary Part 3 (2010 Jan〜2010 Dec)
My Biped Robot Video Diary Part 2 (2009 Jan〜2009 Dec)
My Biped Robot Video Diary Part 1 (2008 Jan〜2008 Dec)

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Month Day YearContents
June 29 2014

BLACK TIGER L46 joined the 21st Robot Survival Game

The 21st Robot Survival Game took place at Mokei-juku in Tokyo on June 29, 2014. Six robots as Hiryu (Koizumi), Famitank (Ninagawa), BLACK TIGER L46 (IKETOMU), Sakura-2gou (Yoshisda), Nikoichi (9th) and Denryu (Gons) joined the 21st Survival Game.

Combat Shooting: BLACK TIGER L46

Extermination Battle 1: Hiryu, BLACK TIGER L46 and Sakura-2gou vs Denryu, Famitank and Nikoichi.

Extermination Battle 2: Hiryu, BLACK TIGER L46 and Sakura-2gou vs Denryu, Famitank and Nikoichi.

Duel Fight 2: BLACK TIGER L46 vs Nikoichi

Tochka (Pillbox) Battle 2: Denryu and BLACK TIGER L46

Flag Battle 1: Denryu and Famitank vs Sakura-2gou and BLACK TIGER L46

Rumble Battle: Hiryu (Koizumi), Famitank (Ninagawa), BLACK TIGER L46 (IKETOMU), Sakura-2gou (Yoshisda), Nikoichi (9th) and Denryu (Gons)

Apr 27 2014

BLACK TIGER L46 joined the 20th Robot Survival Game

The 20th Robot Survival Game took place at Mokei-juku in Tokyo on Apr. 27, 2014. Seven robots as BLACK TIGER L46 (IKETOMU), Sakura-2gou (Yoshisda), Famitank (Ninagawa), Denryu (Gons), Stallone (Noborizaka), D-Tank (BW) and Hiryu (Koizumi) joined the 20th Survival Game. All robots were controlled by camera system in all battles.

Combat Shooting: BLACK TIGER L46

Extermination Battle1

Extermination Battle2

Flag Battle1

Flag Battle2

Rumble Battle1

Rumble Battle2

Apr 26 2014

BT-R2HV joined the 9th TIROL-CHOCO Robot Competition

The 9th TIROL-CHOCO Robot Competition, sponsored by MASAYUKI-san, supported by RT Co., Ltd. and cooperated by TIROL-CHOCO CO., took place at Akihabara DAIBIRU studio ASIMO, Tokyo on Apr. 26, 2014. ??Five robots, BT-R2HV (IKETOMU), Z-TIROMON (Motoiinchi), Garuu (Kumama), Bosa-2gou (Mukouyama Masaharu) and Puchro (KEG) attended the competition.

The competition was consisted with three kinds of gamesas 1) Two m Foot Race with Obstacles, 2) TIROL-CHOCO Shooting and 3) TIROL-CHOCO Carrying Race. Each robot got points depended on the order of each game.

The winner was Z-TIROMON (Motoiinchi), 2nd place was Garuu (Kumama) and 3rd place were BT-R2HV(IKETOM),Bosa-2gou (Mukouyama Masaharu) and Puchro (KEG).

Two m Foot Race: BT-R2HV was the 3rd place

TIROL-CHOCO Shooting: BT-R2HV was the 5th place

TIROL-CHOCO Carrying Race: BT-R2HV was the 1st place

Mar 2 2014

BLACK TIGER L46 joined the 19th Robot Survival Game

The 19th Robot Survival Game took place at Mokei-juku in Tokyo on Mar. 2, 2014.   Seven robots as Denryu (Gons), Fami-Tank (Ninagawa), Stallone-X (Noborizaka), BLACK TIGER L46,   Yabusame (Mota) , CR-Cannon (Yoshida) and TIGER (Nishida) joined the 19th Survival Game.   All robots were controlled by camera system in all battles.

Total 18 Robot Survival Games such as 2 Combat Shooting, 8 Tochka Battle (a new game), 2 Extermination Battle, 1 Fox Hunting, 3 Duel Fight and 2 Battle Royal (Rumble Battle) were carried out in the 19th. Tobby-san uploaded videos of all games.   Sanzai-san also reported the 19th Game in his blog (in Japanese).

Tochika Batttle

Tochka Battle Team

Extermination Battle

Battale Royal2

Feb 15 2014


ROBO-ONE 24th sponsored by ROBO-ONE Committee, took place at HALE TOKYO in Tokyo on Feb 15th and 16th, 2014.    ROBO-ONE Light 8th took place on Feb 15th, 4.5m Footrace took place as the preliminary ROBO-ONE Tournament (Light Class, Under 3kg) on Feb 15th and the main event ROBO-ONE 24th Tournament (Light Class, Under 3kg) took place on Feb 16th.

ROBO-ONE 24th  was held as the tournament with 48 robots upper place robots in the preliminary 4.5 m Footrace including winners of the local robot competitions .

4.5 m Footrace
Four meters and 50 cm Footrace was carried out as the preliminary competition to select 48 robots and to decide the tournament order.  One hundred robots joined the preliminary 4.5 m Footrace.

Robots had to walk 4.5 m course with 90 cm width within 1 minute.  In the 24rd,  thin rubbers under 2 mm was pasted on the board in the course.   Each robot time record taken 4.5 m walk, or the distance from start point if robot could not walk within 1 minute, or robot fell down from the course was recorded.

Each robot tried just one time Footrace. The 4.5 m course pasted with thin rubbers in the course, seemed to be not flat.  Therefore, it was not easy to walk through 4.5 m course for most of robots.    All robots walked the course within 1 minute, passed the preliminary competition.   The result of the preliminary 4.5 m Foot race is here.

BLACK TIGER NEO (entry No 18) walked out of the course at 3.016 m (the 54th place) and could not join the final tournament.

The 1st place was HIGHLANDER by 11.9 seconds, the 2nd place was Lio by 13.5 seconds and the 3rd place was G Saaga by 13.54 seconds.

Just 45 robots could reach the goal within 1 minute. Upper 12 robots were under 20 seconds, the 13th to 25th place robots were under 30 seconds and 43th could join final fight by 50.53 seconds.

4.5 m Footrace Videos
garugaki-san uploaded 4.5 m Footrace videos Entry No.1~33.

Feb 1 2014

BLACK TIGER NEO joined The 13th KONDO BATTLE Open Class

The 13th KONDO BATTLE took place at Robo Spot at Akihabara, Tokyo on Feb 1, 2014. Just BLACK TIGER NEO, Gattender and Chromkid joined the Open Class. BLACK TIGER NEO fought autonomously and other robots fought by radio control. BLACK TIGER NEO lost the matches.

BLACK TIGER NEO (autonomous) vs Gattender(radio control)

BLACK TIGER NEO (autonomous) vs Chromkid (radio control)

Jan 19 2014

BLACK TIGER L45 joined ROBOT JAPAN 7th, Free Style (Short Performance)

ROBOT JAPAN 7th took place at Tsukiji-Honganji Buddhist Hall in Tokyo on April 10, 2011.   Robot entertainment, ROBOT JAPAN was sponsored by Mazel Japan, a entertainment planning company managing the Buddhist Hall.

ROBOT JAPAN 7th had 4 Class, such as Biped Robot Fight Light Class (2 kg or under), Biped Robot Fight Bantam Class (3 kg or under), Robot Dance, Robot Free Style (Short Performance) and Biped Robot Survival Marathon.

BLACK TIGER L45, Anomalous 5-Legged Robot joined Free Style Class (Short Performance). Every kind robot, excepr for biped robot also could join this class. Robot plays a unique short performance by radio control or autonomus. The stage was 3600mm×1800mm.

BLACK TIGER L45 demonstrated some walking styles and attacked 2 L bottle equiped with water using head leg. BLACK TIGER L45 was the 3rd place.

Jan 1 2014

BLACK TIGER NEO Changed Hand Servo and Renewal Arm Cable for the 24th ROBO-ONE Fight

「BLACK TIGER NEO」 Autonomous Fight System with Hybrid Sensor System
( 4 PSD Sensors and 4 Ultrasonicwave Sensors ) Jan 2014

(Custom-Built Robot:Open Regulation Class:Autonomous Fight Robot)

Actuator and Channel of RCB-3HV and Specification is as follows;

ItemSpecificationsMaker, Remarks
Base BodyOriginal body using sold parts at shop, with KHR Bathtubsole LargeIto-Reinetsu Co.LTD.
Hight40 cmWide:54 cm
Weight2.7 kgwith battery
Number of axes23Foot 7 x2, Arm 4 x2, Body 1
Sensor for RCB-3HVGyro Sensor x2:KRG-3
Sensor BoardMANOI Sensor Board HRP100Kyosho CO.LTD
Sensor for HRP100PSD Sensor x4:SHARP GP2D12
Ultrasonicwave sensor:LV-MaxSonar EZ4 x2,EZ1 x1,EZ2 x1
Accelerometer:Kyosho HRP105
Kyosho CO.LTD
ActuatorFoot:KRS-4014HV x10 + KRS-4013HV x4, Arm:KRS-4013HV x8, Body:KRS-4013HV x1KONDO KAGAKU Co.LTD
BatteryLi-Polymer 1320 mAh/11.1VTHUNDER POWER
Radio systemTransmitter:KRC-2, Receiver: KRR-1KONDO KAGAKU CO.LTD

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