Human Emulation - KHR-1
Forward Walking Test
We tested the walking motion of a KHR-1 using only the preprogrammed walking motion provided by the
manufacturer. Normally we test the robot as it comes from the factory, but the KHR-1 is not equipped
with a remote control, or plastic feet. To make this test comparable to our other tests, we added these
items. We did not add any gyros or other sensors to improve the walking results. The KHR-1 had to
walk a distance equal to three body heights (13.4 inches X 3 = 40.2 inches). If the robot began to veer
to one side, we made no corrections and just let the robot keep on walking.
Forward Walking Test
We tested the walking motion of a KHR-1 using only the preprogrammed walking motion provided by the
manufacturer. Normally we test the robot as it comes from the factory, but the KHR-1 is not equipped
with a remote control, or plastic feet. To make this test comparable to our other tests, we added these
items. We did not add any gyros or other sensors to improve the walking results. The KHR-1 had to
walk a distance equal to three body heights (13.4 inches X 3 = 40.2 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.
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 KHR-1 walked a distance equal to three body heights (or 40.2 inches) in an average time of 17.1 seconds, with an average
variance from a straight line of 4.35 inches, which is 32% of its body height. The robot took 24.7 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 KHR-1 is 4.3 times slower than a human, and takes 3.1 times as many steps to cover the same relative distance.
The KHR-1 has the fastest walking time of any of the robots we have tested. Keep in mind that this robot is the first humanoid
robot available for retail sale. How is this performance possible? It all comes down to the walking motion. Kondo made an
excellent preprogrammed walking motion that runs for 10 steps before stopping. The Robonova-1 only walks three steps. Of
course, getting the KHR-1 to walk 10 steps without falling over took an incredible amount of patience and effort. The robot's home
position has to be exactly perfect, which can be maddening to attempt to set correctly.
The KHR-1 also took the least number of steps of the robots we tested. Since we neutralized our test based on each robot's
height, this means that Kondo made each step of the KHR-1 proportionately longer relative to its body height. You might think this
longer gait would make it more difficult to remain stable and walk in a straight line, but the KHR-1 outperformed the Robonova-1 by
only varying 32% of its body height from the center line, whereas the Robonova-1 wobbled 45% of its body height from center.
The KHR-1 walked a distance equal to three body heights (or 40.2 inches) in an average time of 17.1 seconds, with an average
variance from a straight line of 4.35 inches, which is 32% of its body height. The robot took 24.7 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 KHR-1 is 4.3 times slower than a human, and takes 3.1 times as many steps to cover the same relative distance.
The KHR-1 has the fastest walking time of any of the robots we have tested. Keep in mind that this robot is the first humanoid
robot available for retail sale. How is this performance possible? It all comes down to the walking motion. Kondo made an
excellent preprogrammed walking motion that runs for 10 steps before stopping. The Robonova-1 only walks three steps. Of
course, getting the KHR-1 to walk 10 steps without falling over took an incredible amount of patience and effort. The robot's home
position has to be exactly perfect, which can be maddening to attempt to set correctly.
The KHR-1 also took the least number of steps of the robots we tested. Since we neutralized our test based on each robot's
height, this means that Kondo made each step of the KHR-1 proportionately longer relative to its body height. You might think this
longer gait would make it more difficult to remain stable and walk in a straight line, but the KHR-1 outperformed the Robonova-1 by
only varying 32% of its body height from the center line, whereas the Robonova-1 wobbled 45% of its body height from center.
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The 10 steps of the KHR-1's
walking motion make the robot
move far and fast. If you watch
the video links above, the robot
finishes its second walking cycle
just in front of our finish line.
Executing the third walking cycle
causes the robot to move well
past the finish line. Therefore
we could not take tight photos of
the finish, and had to take
variance measurements by eye,
and careful review of the video.
walking motion make the robot
move far and fast. If you watch
the video links above, the robot
finishes its second walking cycle
just in front of our finish line.
Executing the third walking cycle
causes the robot to move well
past the finish line. Therefore
we could not take tight photos of
the finish, and had to take
variance measurements by eye,
and careful review of the video.
CONCLUSION:
The KHR-1 performed better than either the I-Sobot or the Robonova-1 in both the walking test and the 180 degree turn test.
Remember that the KHR-1 was the first humanoid robot ever built in 2004 and the other robots are much newer. The real
reason behind the KHR-1's superior performance is the well designed walking and turning motions that came preprogrammed.
In terms of Human Emulation, the KHR-1 is our new winner. There are some drawbacks to this robot. It was enormously
frustrating to build, program and stabilize this robot. But the payback was worth the effort. Hopefully, as robot manufacturers
continue to make improvements, they will take the best from each robot. The KHR-1 has great walking motions, the Robonova-1
was simple to build and easy to use, the I-Sobot comes with a gyro, a continuous walking motion, and is very affordable. If we
could get all of these attributes in one package, the result would be a truly astonishing robot.
The KHR-1 performed better than either the I-Sobot or the Robonova-1 in both the walking test and the 180 degree turn test.
Remember that the KHR-1 was the first humanoid robot ever built in 2004 and the other robots are much newer. The real
reason behind the KHR-1's superior performance is the well designed walking and turning motions that came preprogrammed.
In terms of Human Emulation, the KHR-1 is our new winner. There are some drawbacks to this robot. It was enormously
frustrating to build, program and stabilize this robot. But the payback was worth the effort. Hopefully, as robot manufacturers
continue to make improvements, they will take the best from each robot. The KHR-1 has great walking motions, the Robonova-1
was simple to build and easy to use, the I-Sobot comes with a gyro, a continuous walking motion, and is very affordable. If we
could get all of these attributes in one package, the result would be a truly astonishing robot.
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180 Degree Turn Test
The KHR-1 lacks hip servos, just like the Robonova-1 and I-Sobot, so the KHR-1 uses the same kind of dragging motion to turn.
The KHR-1 and the Robonova-1 have to stop between each turn motion, but the I-Sobot has a continuous turning motion. Despite
this drawback, the KHR-1 was able to turn in approximately the same amount of time as the I-Sobot, but using fewer steps, and
with less variance from center. Check the results below to find out what really happened.
The KHR-1 lacks hip servos, just like the Robonova-1 and I-Sobot, so the KHR-1 uses the same kind of dragging motion to turn.
The KHR-1 and the Robonova-1 have to stop between each turn motion, but the I-Sobot has a continuous turning motion. Despite
this drawback, the KHR-1 was able to turn in approximately the same amount of time as the I-Sobot, but using fewer steps, and
with less variance from center. Check the results below to find out what really happened.
INTERPRETATION:
The KHR-1 completed the 180 Degree Turn in an average time of 17.6 seconds, with an average variance side-to-side of 5.46 inches, which is
40.8% of its body height, with an average variance front-to-back of 1.33 inches, which is 9.9% of its body height. The robot took 8.8 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 KHR-1 is 8.8 times slower than a human, and takes 2.9 times as many steps.
The KHR-1 completed the test in exactly the same amount of time as the Robonova-1, and only slightly slower than the I-Sobot. But the KHR-1
was able to turn 180 degrees using substantially fewer steps, than either of the other robots. Furthermore, the KHR-1 managed to turn
around with less variance from center. This means that the turning motion created by Kondo was more efficient.
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.
The KHR-1 completed the 180 Degree Turn in an average time of 17.6 seconds, with an average variance side-to-side of 5.46 inches, which is
40.8% of its body height, with an average variance front-to-back of 1.33 inches, which is 9.9% of its body height. The robot took 8.8 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 KHR-1 is 8.8 times slower than a human, and takes 2.9 times as many steps.
The KHR-1 completed the test in exactly the same amount of time as the Robonova-1, and only slightly slower than the I-Sobot. But the KHR-1
was able to turn 180 degrees using substantially fewer steps, than either of the other robots. Furthermore, the KHR-1 managed to turn
around with less variance from center. This means that the turning motion created by Kondo was more efficient.
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 - 4.50 inches side-to-side and 1.00 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
The photos below show the measurements for a sample of our variance tests. All tests were measured the same way
| Test 5 - 5.25 inches side-to-side and 2.75 inches front-to-back |
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