KHR-3HV Ver.3.1

Kondo Kagaku

Japan

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The KHR-3HV Ver.3.1 is Kondo Kagaku's current bipedal humanoid assembly kit, and this 22-axis version is the fullest configuration it ships in — the standard 17-axis set plus a five-servo expansion set. The five extra axes are two arm yaw, two hip yaw and one waist yaw joint, which let the robot twist its arms in front of its chest, swing its arms, pivot on one leg and rotate at the waist, greatly widening the range of motions it can perform. Assembled it stands 401 mm tall, 194 mm wide and 129 mm deep, and weighs about 1.8 kg. The kit is built around the RCB-4HV control board and KRS-2552R3HV servos with all-metal gears and high-power motors, which Kondo says give the rigidity and precision needed for stable walking that resists falling, powered by a Li-Fe ROBO Power Cell. Everything is designed for accessibility: no special tools or skills are needed beyond a screwdriver, an experienced builder finishes in about a day, and the HeartToHeart4 software builds motions by arranging panels with the mouse and includes a teaching mode, so no programming knowledge is required. Sample motions cover walking, shooting, punching, greeting and handstands. In its 22-axis state the robot is a ROBO-ONE officially approved machine and can compete as built, with optional wireless controller, gyro and accelerometer add-ons. For education and research, Kondo publishes an RCB-4 Library for Python so a Raspberry Pi or other computer can drive the control board. It is made in Japan.