ASIMO

History of Honda's Robot Development

  • E0 (1986)
  • E1-E2-E3 (1987-1991)
  • E4-E5-E6 (1991-1993)
  • P1-P2-P3 (1993-1997)
  • ASIMO (2000- )

History of Honda's Robot Development

E4 - E5 - E6 (1991-1993)

Achieving Two-legged Walking through Technology to Achieve Stab

Honda conducted research on the technology to achieve stable walking and successfully developed three posture control technologies.

E4

E4
Knee length was increased to 40cm to simulate the quick human step speed of 4.7km/h.

E5

E5
First autonomous locomotion model had a large head cover.

E6

E6
Autonomous control of balancing when going up and down the stairs or slopes or stepping over an obstacle.

Basic functions of two-legged locomotion now complete

E4

3 posture controls to achieve stable walking
*ZMP = Zero Moment Point: The point when total inertial force is 0.

1. Ground Reaction Control

1. Ground Reaction Control
Firm standing control of the soles of the feet when absorbing floor unevenness

2. Target ZMP Control

2. Target ZMP Control
Control to maintain position by accelerating the upper body in the direction it may fall when the soles of the feet cannot stand firmly

3. Foot Planting Location Control

3. Foot Planting Location Control
Control using stride length to adjust for deviations in the upper body position caused by target ZMP control

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