ASIMO

HONDA actualized 2 foot walking technology which does not have type in the world with the prototype model of P2 and P3. Utilizing the know-how which is cultivated with the prototype model while, from, it tackled the research development of the new technology where it directed to utilization. As a result of the new technology, ASIMO was born here.

「ASIMO」Advanced Step in Innovative Mobility. This means the progressive mobility which evolved into new age.

Weight		43kg
Walking speed		0～1.6km/h
Walking period		Period is variable and step variable
Grip		0.5kg/hand (5 finger hand)
Actuator		Servo-motor + harmonic reduction gear + drive unit
Control section		Walking/operational control unit and wireless communication unit
Sensors	Foot	6 axial force sensors
	Body section	Gyro accelerating sensor
Power source section		38.4V/10AH（Ni-MH）
Function part		Work station and portable controller

ASIMO supposing that in the near future, it is really active in the life space of the human, did research development.
Size and the weight which free and it is easy to move work in the life space of the human, simple operativity was actualized. In addition, it made the design which you can be moved by more familiarly.

DOF = Degrees of Freedom

Head

Neck joint (top and bottom direction/revolution) 　2 DOF

Arms

Joint of shoulder (revolution of the arm the front and back direction/top and bottom direction/)	3 DOF
Joint of elbow (front and back direction)	1 DOF
Joint of wrist (revolution)	1 DOF

	5 DOF x 2 = 10 DOF

The hands

5 fingers (movement which grasps grip = 1)	1 DOF

	1 DOF x 2 = 2 DOF

Legs

Joint of crotch (front and back direction/left and right direction/revolving direction)	3 DOF
Joint of knee (front and back direction)	1 DOF
Joint of ankle (front and back direction/left and right direction)	2 DOF

	6 DOF x 2 = 12 DOF

Grand total of 26 DOF