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Evolution of Asimo PowerPoint PPT Presentation

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By: Lee Vang. Evolution of Asimo. First attempt to make a humanoid Robot by Honda was in 1986 (Model E0) History:. E0 (1986). First 2-legged robot. E1-E2-E3 (1987-1991). Research was done on walking Human walking, animal walking Analyzed movements and location of joints

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Evolution of Asimo

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By lee vang

By: Lee Vang

Evolution of Asimo

Evolution of asimo

First attempt to make a humanoid Robot by Honda was in 1986 (Model E0)


E0 1986

E0 (1986)

  • First 2-legged robot

E1 e2 e3 1987 1991

E1-E2-E3 (1987-1991)

  • Research was done on walking

    • Human walking, animal walking

    • Analyzed movements and location of joints

    • E2 achieved fast walking of 1.2km/h on flat surfaces

Robot s walk

Robot’s Walk

  • Human Skeleton used for reference

  • Human body’s center of gravity used as reference

  • Sensors for walking

E4 e5 e6 1991 1993

E4-E5-E6 (1991-1993)

Evolution of asimo

Floor Reaction Control

If the tip of the robot's toe steps on a rock, the actual center of ground reaction shifts to the tip of the toe. The floor reaction control then causes the toe to rise slightly, returning the center of ground reaction to the target ZMP.

Target ZMP Control

If the robot leans too far, the target ZMP control operates to prevent it from falling. Misalignment of the target ZMP generates a falling force and the target ZMP helps maintain stability

For example, in the diagram to the left, if the robot starts to fall forward, it increases its walking speed so the target ZMP is shifted which corrects the robots position.

Foot Planting Location Control

The target position of the upper torso shifts in the direction of acceleration. When the next step is taken in the ideal step length, the feet will fall behind the torso. The stepping placement control idealizes the stride to ensure the ideal relationship between torso speed and length of stride is maintained.

P1 p2 p3 1993 1997

P1-P2-P3 (1993-1997)

  • Attached the legs to the body to create a more humanoid robot.

  • World’s first self-regulating, 2 – legged humanoid walking robot.

  • P1 Can carry/pick up things.

  • P2 worked off wireless

  • P3 completely independent

Evolution of asimo




  • Advanced

  • Step in

  • Innovative

  • Mobility



  • Smoother and More stable walking

  • i-Walk

  • Recognition of posture and gestures.

  • Environment recognition.

Network integration

Network Integration

  • Integrate with User’s Network System

  • Internet Connectivity

Degrees of freedom dof

Degrees of Freedom (DoF)

Asimo speeds

Asimo Speeds

  • Running (Straight) : 9 km/h

  • Running (Circular pattern): 5 km/h

  • Walking Speed: 2.7 km/h

  • Walking Speed (carry): 1.6 km/h

Other asimo features

Other Asimo features

  • Greeting people as they pass by

  • Holding someone’s hand and walking

  • Carrying a tray to serve someone

Video clip

Video Clip

Video clip 2

Video Clip 2

Three questions

Three Questions

  • How many DoF does Asimo have?

    • 34 Degrees of Freedom

  • What year did Honda attempt to make the first humanoid robot(also known as E0)?

    • 1986

  • How fast can the current Asimo run in a straight line?

    • 9 km/h

Work sited

Work Sited




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