HRP-1S在形状和大小方面类似于本田的P3，并且是HRP系列中第一个被公开示范的机器人。除了具有行走能力之外，它的胳膊还具有精密复杂的协调性，从而使它能够使用人类的工具、甚至操作沉重的机械设备。

The HRP-1S is similar in shape and size to Honda’s P3 and was the first publicly demonstrated robot in the HRP series. Along with the ability to walk it possessed sophisticated arm coordination which allowed it to use human tools and even operate heavy machinery.