ASIMO- The World’s Most Advanced Humanoid Robot

DESIGN

The robot’s size was chosen to allow it to operate freely in the human living space and to make it people-friendly. This size allows the robot to operate light switches and door knobs, and work at tables and work benches. Its eyes are located at the level of an adult’s eyes when the adult is sitting in a chair. A height of 130cm makes it easy to communicate with. Honda feels that a robot height between 130cm and that of an adult is ideal for operating in the human living space.

* The above heights are examples to serve as a reference (mm).

SPECIFICATIONS

INTELLIGENCE

December 5, 2002 Honda added intelligence technology to ASIMO which is capable of interpreting the postures and gestures of humans and moving independently in response. ASIMO’s ability to interact with humans has advanced significantly, it can greet approaching people, follow them, move in the direction they indicate, and even recognize their faces and address them by name. Further, utilizing networks such as the Internet, ASIMO can provide information while executing tasks such as reception duties. ASIMO is the world’s first humanoid robot to exhibit such a broad range of intelligent capabilities.

Advanced communication ability thanks to recognition technology

Using the visual information captured by the camera mounted in its head, ASIMO can detect the movements of multiple objects, assessing distance and directionSpecifically, ASIMO can: : follow the movements of people with its camera; : follow a person; : greet a person when he or she approaches. Recognition of the distance and direction of movement of multiple objects Recognition of moving objects [1] >> Recognition of moving objects [2] >>

Based on visual information, ASIMO can interpret the positioning and movement of a hand, recognizing postures and gestures. Thus ASIMO can react not only to voice commands, but also to the natural movements of human beings.For example, ASIMO can: : recognize an indicated location and move to that location (posture recognition); : shake a person’s hand when a handshake is offered (posture recognition); : respond to a wave by waving back (gesture recognition). Movement to an indicated location Posture recognition >> Recognition of hand movements such as the waving of a hand Gesture recognition >>

Using the visual information, ASIMO is able to assess its immediate environment, recognizing the position of obstacles and avoiding them to prevent collisions.  Environment recognition [1] >> Environment recognition [2] >> Specifically, ASIMO can: : stop and start to avoid a human being or other moving object which suddenly appears in its path; : recognize immobile objects in its path and move around them.

ASIMO’s ability to identify the source of sounds has been improved, and it can distinguish between voices and other sounds.  Sound recognition >> For example, ASIMO can: : recognize when its name is called, and turn to face the source of the sound; : look at the face of the person speaking, and respond; : recognize sudden, unusual sounds, such as that of a falling object or a collision, and face in that direction.

ASIMO has the ability to recognize faces, even when ASIMO or the human being is moving.For example, ASIMO can: : recognize the faces of people which have been pre-registered, addressing them by name, communicating messages to them, and guiding them; : recognize approximately ten different people. Distinguish between registered faces. Face recognition >>

Network integration

ASIMO can: : execute functions appropriately based on the user’s customer data; : greet visitors, informing personnel of the visitor’s arrival by transmitting messages and pictures of the visitor’s face; : guide visitors to a predetermined location, etc.

Accessing information via the Internet, ASIMO can become a provider of news and weather updates, for example, ready to answer people’s questions, etc.

PHYSICAL CAPABILITY IMPROVEMENTS

To maintain balance while increasing walking speed and preventing the feet from slipping or rotating in mid-air, we developed new posture control logic that employs active use of the bending and twisting of the upper body, as well as highly responsive hardware. This has enabled ASIMO to run at 6 km/h, and also improved the walking speed to 2.7 km/h.

High Speed Running 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. 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, 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. Speed Stride Leap distance* Leap time 6km/h 525mm 50mm 0.08sec *Distance ASIMO moves forward while both feet are off the ground High-Speed Running Turn in a Circular Pattern 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. Coordination of the Entire Body 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.

ENVIRONMENT ADAPTABILITY IMPROVEMENTS

ASIMO can maneuver toward its destination without stopping by comparing any deviation between the input map information and the information obtained about the surrounding area from its floor surface sensor.

Correcting Its Own Position ASIMO corrects its own positions without stopping based on information obtained from the sensors as it walks and the pre-memorized map information. Identifying Obstacles ASIMO selectively use its multiple sensors based on its own judgments, and adjusts the sensitivity of the sensors according to the surrounding circumstances in order to consistently identify obstacles. Autonomous Continuous Movement >> Avoiding Obstacles >>ASIMO, avoiding a person ahead Automatic Detour Function When its ground sensor or the visual sensor on its head identifies an obstacle, it ASIMO selects a different route using its own judgment.

Identifying moving subjectsFrom the characteristics of images obtained from its visual sensor on its head, ASIMO extracts multiple moving subjects, and identifies the distance and direction to those subjects and likelihood of those subjects being people. Recognizes peopleBased on the information on the IC Communication Card, the position of the person is identified, and ASIMO adjusts its own position to face the person. Shakes hands in sync with the person’s motionBy detecting people’s movments through visual sensors in its head and force (kinesthetic) sensors on its wrists, ASIMO can shake hands in concert with a person’s movement. During hand shaking, ASIMO steps backward when the hand is pushed and steps forward when the hand is pulled. ASIMO moves in concert with a person by taking steps to the direction of the force. Visual and Force Sensors >> Walking hand-in-handWith its force sensors on the wrists, ASIMO detects the strength and direction of the force applied to its hand and adjusts the walking speed and direction. ASIMO takes steps in any direction according to the strength and direction of the force applied to its hand, therefore a person can walk ASIMO in any direction. Walking Hand-in-Hand >> In collaboration with Honda’s unique IC communication card, an IC tag with optical communication functions, ASIMO autonomously selects and executes its tasks. Based on customer information pre-registered in the IC communication card, ASIMO identifies the characteristics and relative position of its target person. Even with multiple people around, ASIMO can determine their positions and who they are, and respond to each person individually. IC Tele-Interaction Card >> Attending to a person while recognizing the person Based on the information in the IC Communication card, ASIMO recognizes the individual and attends to the person accordingly. Interaction with Recognition >> Attending to a person while specifying the position of the person Based on the information in the IC Communication card ASIMO specifies the position of the person and adjusts its position to attend to them while facing toward that person. Interaction with Positioning >> Attending to a person while measuring the distance to the person Calculating the relative distance between ASIMO and the person to attend, ASIMO adjusts its walking speed. If the distance becomes too great, ASIMO waits until the person comes closer. Interaction with Distancing >> Greeting people as they pass byWhen passing a person who carries an IC communication card, ASIMO identifies the card information and greets appropriate for the person. Greeting Passers-By >>

OBJECT HANDLING IMPROVEMENTS

ASIMO can deliver objects on a tray to a specified destination.

Handing the tray By detecting the movement of the person through the eye camera in its head and force sensors on its wrists, ASIMO can move in concert with the person and accurately receive or hand over the tray. Receiving and Delivering a Tray >> Walking with the tray While carrying the tray, ASIMO uses its entire body to control the tray to prevent spilling of the objects on the tray. Even if the tray slides and is about to fall, ASIMO’s wrist sensors detect the weight differences on its hands and automatically stop walking before it drops the tray. Walking with a Tray >> Putting the tray on a table When the force sensors on its wrists detect reduction of the load on the wrists as the tray touches the surface of the table, ASIMO sets the tray on the table. By using the entire body to set the tray down, ASIMO can work with tables of different heights. Receiving and Delivering a Tray >>

It can transport heavy loads by handling a wagon in a flexible manner.

Being able to handle a cart freely, ASIMO is now capable of carrying heavy objects ASIMO is capable of handling a cart freely while maintaining an appropriate distance from the cart by adjusting the force of its arms to push a cart using the force sensor on its wrists. Even when the movement of the cart is disturbed, ASIMO can continue maneuvering by taking flexible actions such as slowing down or changing directions. (The maximum load is 10 kg.) Coordinated Operation of Multiple ASIMOs >> Operating a Cart >> Pushing a Cart >>

Source :
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