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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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By: Lee Vang

Evolution of Asimo



E0 (1986) (Model E0)

  • First 2-legged robot


E1-E2-E3 (1987-1991) (Model E0)

  • 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 (Model E0)

  • Human Skeleton used for reference

  • Human body’s center of gravity used as reference

  • Sensors for walking



Floor Reaction Control (Model E0)

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) (Model E0)

  • 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


P3 (Model E0)


Asimo (Model E0)

  • Advanced

  • Step in

  • Innovative

  • Mobility


Asimo (Model E0)

  • Smoother and More stable walking

  • i-Walk

  • Recognition of posture and gestures.

  • Environment recognition.


Network Integration (Model E0)

  • Integrate with User’s Network System

  • Internet Connectivity



Asimo (Model E0) 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 (Model E0)

  • Greeting people as they pass by

  • Holding someone’s hand and walking

  • Carrying a tray to serve someone


Video Clip (Model E0)


Video Clip 2 (Model E0)


Three Questions (Model E0)

  • 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 (Model E0)

  • http://world.honda.com/news/2011/c111108All-new-ASIMO/index.html

  • http://asimo.honda.com

  • http://en.wikipedia.org/wiki/ASIMO


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