| High Speed Running |
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| There were two challenges in making ASIMO run. One was to obtain an accurate jump function and absorb shock when landing, and the other was to prevent the rotation and slipping as a result of the increased speed. |
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| In order for ASIMO to run, it had to be able to repeat the movements of pushing off the ground, swinging its legs forward, and landing within a very short time cycle and without any delay, absorbing the instantaneous impact shock of landing. ASIMO is a hardware equipped with a newly developed high-speed processing circuit, highly-responsive and high-power motor drive unit, and light-weight and highly rigid leg structure, |
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Due to reduced pressure between the bottom of the feet and floor, spinning and slipping are more likely to happen right before the foot leaves the floor and right after the foot lands on the floor. Combining Honda's independently developed theory of bipedal walking control with proactive bending and twisting of the torso, ASIMO achieved stable running while preventing slipping.
When a human runs, the step cycle is 0.2 to 0.4 seconds depending on one's speed, and the leap time, when both feet are off the ground, varies between 0.05 to 0.1 seconds. The step cycle of ASIMO is 0.32 seconds with an leap time of 0.08 seconds, which are equivalent to that of a person jogging. |
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| Speed |
Stride |
Leap
distance* |
Leap time |
| 6km/h |
525mm |
50mm |
0.08sec |
*Distance ASIMO moves forward while both feet are off the ground |
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| High-Speed Running Turn in a Circular Pattern |
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| Running in a circular pattern at high speed was achieved by tilting the center of gravity of ASIMO's body inside of the circle to maintain balance with the amount of centrifugal force experienced. The tilting. ASIMO changes its speed according to the radius of the circle and controls its tilted posture. |
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| Coordination of the Entire Body |
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| The development of highly responsive hardware enable ASIMO to freely change speed while it is in motion. This allows ASIMO to conduct flexible and rapid movements using the entire body while maintaining its overall body balance. |
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