Human Emulation - I-Sobot

Forward Walking Test

We tested the walking motion of a I-Sobot with no modifications or sensors using only the
preprogrammed walking motion provided by the manufacturer.  The I-Sobot had to walk a distance equal
to three body heights (6.5 inches X 3 = 19.5 inches).  If the robot began to veer to one side, we made no
corrections and just let the robot keep on walking.
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NOTE:  These robots are not meant for children.  All of the humanoid robot models discussed on this website use
powerful servos that can pinch or even crush your fingers if you are not careful.  Consult the recommended minimum
age from the manufacturer before allowing children to use any of these robots.
INTERPRETATION:

The I-Sobot walked a distance equal to three body heights (or 19.5 inches) in an average time of 24.9 seconds, with an average
variance from a straight line of 1.86 inches, which is 29% of its body height.  The robot took 33.8 steps on average to complete the
test.  Consider that it takes an average human approximately 4 seconds to walk three body heights, taking just 8 steps.  That
means that the I-Sobot is 6.2 times slower than a human, and takes 4.2 times as many steps to cover the same relative distance.  

The I-Sobot is roughly twice as fast as the Robonova-1 we previously tested.  Despite having slower and weaker servos, the
I-Sobot whipped through the walking test in half the time.  It was able to do this thanks to the continuous walking cycle that comes
preprogrammed on the I-Sobot, but not on the Robonova-1.

The I-Sobot also comes with a gyro included as standard equipment.  This may have helped it achieve a lower variance in the
straight line walking test.  However, the bigger impact was probably due to the I-Sobot's wide feet which provide extra stability that
the Robonova-1 lacks.  The I-Sobot only varied 29% of its body height from the center line, but the Robonova-1 wandered 45% of
its body height on average.  The I-Sobot clearly does a better job of mimicing human motions than the Robonova-1 in this test.
   
Time in
seconds
   Variance
from center
in inches
  
Number
of steps
  
Video Links
  
Video Angle
  
Test 1
   24.5
   2.50 right
   33
   Walk 1
   High Side View
  
Test 2
   25.0
   1.50 left
   34
   Walk 2
   High Side View
  
Test 3
   25.8
   2.50 right
   35
   Walk 3
   High Side View
  
Test 4
   25.9
   0.00
   34
   Walk 4
   High Side View
  
Test 5
   25.8
   4.75 left
   35
   Walk 5
   3/4 view
  
Test 6
   24.9
   3.25 left
   34
   Walk 6
   3/4 View
  
Test 7
   25.7
   0.50 right
   35
   Walk 7
   3/4 View
  
Test 8
   25.0
   1.00 left
   34
   Walk 8
   3/4 View
  
Test 9
   24.5
   1.25 right
   33
   Walk 9
   Front View
  
Test 10
   25.0
   2.50 left
   34
   Walk 10
   Front View
  
Test 11
   24.2
   2.50 right
   33
   Walk 11
   Front View
  
Test 12
   24.4
   1.50 left
   33
   Walk 12
   Front View
  
Test 13
   24.4
   1.25 left
   33
   Walk 13
   Overhead View
  
Test 14
   25.0
   1.50 left
   34
   Walk 14
   Overhead View
  
Test 15
   24.2
   0.75 right
   33
   Walk 15
   Overhead View
  
Test 16
   24.2
   1.00 right
   33
   Walk 16
   Overhead View
  
Test 17
   25.7
   3.25 left
   35
   Walk 17
   Low Side View
  
Test 18
   24.1
   1.00 right
   33
   Walk 18
   Low Side View
  
Test 19
   24.2
   0.50 right
   33
   Walk 19
   Low Side View
  
Test 20
   24.8
   4.25 right
   34
   Walk 20
   Low Side View
  
                       
Best
   24.1
   0.00
   33
          
Worst
   25.9
   4.75 left
   35
          
                       
Average
   24.9
   1.86
   33.8
          
Standard Deviation
   0.6
   1.28
   0.8
          
% of body height
   n/a
   29%
   n/a
          
                       
Human Average
   4.0
   n/a
   8
          
                       
Test 1 was pretty typical with a
2.50 inch variance to the right
Test 4 finished with no variance
CONCLUSION:

The I-Sobot performed much better than the Robonova-1 in the walking test, and fared about the same in the 180 degree turn
test.  Considering that the I-Sobot costs less than $250 and the Robonova-1 is three times more expensive near $900, the
results appear surprising on the surface.  The real reasons behind the I-Sobot's superior performance are the continuous
walking cycle that came preprogrammed with the robot, the gyro that comes as standard equipment, and the wide feet for better
stability.
   
Time in
seconds
  
Number of
steps
  
Variance
side-to-side
in inches
  
Variance
front-to-back
in inches
  
Turn
Direction
  
Video
Links
  
Video
Angle
    
Test 1
   18.0
   14
   4.75
   4.00
   Right
   Turn 1
   Front
    
Test 2
   16.1
   13
   4.50
  
3.50
   Right
   Turn 2
   Front
    
Test 3
   14.4
   12
   5.00
  
3.50
   Left
   Turn 3
   Front
    
Test 4
   14.0
   11
   4.75
  
3.25
   Left
   Turn 4
   Front
    
Test 5
   14.8
   12
   5.00
  
4.00
   Right
   Turn 5
   3/4 view
    
Test 6
   15.5
   13
   4.00
  
4.50
   Right
   Turn 6
   3/4 view
    
Test 7
   14.7
   12
   5.00
  
3.00
   Left
   Turn 7
   3/4 view
    
Test 8
   14.9
   12
   5.00
  
2.50
   Left
   Turn 8
   3/4 view
    
Test 9
   14.8
   12
   5.00
  
4.50
   Right
   Turn 9
   Low Side
    
Test 10
   15.2
   12
   4.50
  
3.00
   Right
   Turn 10
   Low Side
    
Test 11
   14.7
   12
   4.50
  
3.75
   Left
   Turn 11
   Low Side
    
Test 12
   14.5
   12
   5.50
  
2.75
   Left
   Turn 12
   Low Side
    
Test 13
   15.4
   12
   4.50
  
3.75
   Right
   Turn 13
   High Side
    
Test 14
   14.4
   12
   4.25
  
3.50
   Right
   Turn 14
   High Side
    
Test 15
   13.8
   11
   4.25
  
3.00
   Left
   Turn 15
   High Side
    
Test 16
   14.1
   11
   5.00
  
3.00
   Left
   Turn 16
   High Side
    
Test 17
   15.2
   12
   4.50
  
4.25
   Right
   Turn 17
   Overhead
    
Test 18
   16.3
   13
   4.50
  
3.50
   Right
   Turn 18
   Overhead
    
Test 19
   15.5
   12
   5.25
  
2.00
   Left
   Turn 19
   Overhead
    
Test 20
   14.6
   12
   5.50
  
3.00
   Left
   Turn 20
   Overhead
    
               
 
                
Best
   13.8
   11
   4.00
  
2.00
                
Worst
   18.0
   14
   5.50
  
4.50
                
               
 
                
Average
   15.0
   12.1
   4.76
  
3.41
                
Standard Deviation
   1.0
   0.72
   0.41
  
0.66
                
% of body height
   n/a
   n/a
   73.3%
  
52.5%
                
               
 
                
Human Average
   2.0
   3.0
   16.35
  
15.20
                
% of body height
   n/a
   n/a
   23.4%
   21.7%
                
180 Degree Turn Test

The I-Sobot lacks hip servos, just like the Robonova-1, so the I-Sobot uses the same kind of dragging motion to turn.  The only
advantage the I-Sobot has is that its turning motion is continuous, whereas the Robonova-1 stops in between each turn.  This
should theoretically allow the I-Sobot to turn faster.  Check the results below to find out what really happened.
INTERPRETATION:

The I-Sobot completed the 180 Degree Turn in an average time of 15.0 seconds, with an average variance side-to-side of 4.76 inches, which
is 73.3% of its body height, with an average variance front-to-back of 3.41 inches, which is 52.5% of its body height.  The robot took 12.1
steps on average to complete the test.  Consider that it takes an average human approximately 2 seconds to turn 180 Degrees, taking just 3
steps.  That means that the I-Sobot is 7.5 times slower than a human, and takes 4.0 times as many steps.  

Despite having a continuous walking motion, the I-Sobot performed almost exactly the same as the Robonova-1.  Turning 180 degrees is
difficult for any robot to do without having hip or waist servos.  We plan to test other robots in the future that have hip servos, so it will be very
interesting to see the difference in performance.
Test 3 - 5.00 inches side-to-side
and 3.50 inches front-to-back
VARIANCE TEST:

The photos below show the measurements for a sample of our variance tests. All tests were measured the same way
Test 10 - 4.50 inches side-to-side
and 3.00 inches front-to-back
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