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.
* We'll be happy to add your gait creations to this list.