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

P1 - P2 - P3 (1993-1997)

Evolving to a Humanoid Robot that Combines an Upper Body with L

Studies were carried out to determine what a humanoid robot should be like to function properly in society and in a human living environment. A prototype model of near-human size was completed.


First prototype of a man-like model with upper limbs and the body.


First humanoid stunned the public with realistic movement.


Evolution in size and weight marked this fun humanoid.

Research on humanoid robots

Research on humanoid robots

1. Basic Structure

Basic Structure

To work in harmony with people and for ease of operation, it was decided that the robot should have two arms.

2. Basic Function

Target Point Movement
From the erect position, a camera is used to recognize two markers placed on the floor or other spots. After the robot estimates its present location and direction, it designates a target point. It then calculates the method giving the minimum amount of walking required to move from its present location to the target point. The gyroscope is used for inertial navigation as it moves to the target point, correcting for irregularities caused by slippage, etc.

Climbing/Descending Stairs
A 6-axis force sensor is used to measure steps, so the robot can negotiate even long stairways, continuously without missteps.

Cart Pushing
The robot can push carts at a set speed, but if the cart encounters some kind of resistance the robot shortens its stride in response to avoid excessive pushing.

Carrying Objects
Each arm can carry up to 2 kg while walking.

Passing Through Doorways
The robot can open and close doors while passing through doorways. As in cart pushing, its steps are regulated in response to the door's open/closed state.

Working Via Remote Operation
The robot can tighten bolts and perform other tasks with the master arm while sensing the pressure on the hands.

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