The software Heart2Heart that comes with KHR-1 allows for the creation of
motion sequences or gaits. You can mold the robot's limbs as you wish, capture
the relative servo positions and then play a sequence of transitions between the
captured poses. It takes a lot of patience and skill to get the robot to do
interesting human like movements mainly because once the robot is in motion,
gravity, friction and inertia may contribute to create counter-intuitive
effects. However, once you spend a few hours trying out positions and
transitions, you will learn to master your robot and as a byproduct also learn
how much we actually rely on gravity, friction and inertia to move around.
The following gaits have been created by Kondo. You can watch the video and
download the data that should work on your KHR-1 if its Home Position is set
propperly.
KHR-1
"Cartwheel" Side Roll
KHR-1
"Cartwheel" Side Roll Data
While
this cartwheel motion is awesomely cool, it is likely to bend KHR-1's
sensitive aluminum body. Especially around the hands. You've been warned.
This
running gait requires the large foot sole extension (available at our online
store) and a surface that's not
too smooth in order to keep to a straight line. 
This
gait gets KHR-1 to roll backwards. Note that this trick applies some severe
forces on KHR-1's sensitive body. If you plan to do this gait regularly, we
suggest wooden floor or an even softer surface.
Bold
forward roll motion. Note that this trick applies some severe forces on
KHR-1's sensitive body. If you plan to do this gait regularly, we suggest
wooden floor or an even softer surface.
This
gait will get KHR-1 to turn on its stand leaning on one leg. Smoothness of
the surface can improve the turn.
Impress
your friends! get your KHR-1 perform pushups like the military droid that he
is.
This
is an improved version of the walking gait that comes on the CD with the
KHR-1 kit. It is quite sensitive to the preciseness of the "Home Position".
However since the home position can not be identical in every KHR-1, minor
adjustments will easily correct any dissonance.