Configuration and Control System of ASIMO

The robot’s size was chosen to allow it to operate in the human living space freely and make it people friendly. When designing ASIMO, Honda engineers studied the reach of the robot hand and its squatting position to access things, such as light switches, doorknobs, electric outlet and other things in the daily life environment. The robot’s location elbow and shoulder is dictated by the normal height of workbenches and desks. The current ASIMO is Honda’s first prototype robot that is capable of tackling both indoor and off-road environments.

ASIMO shoulder are positioned at 910mm height, allowing it to benefit from an upper reach as high as 1290mm. its leg are 610mm which allow it to go up and down stairs. ASIMO has 1200mm tall in total. ASIMO’s width 450mm and has depth of 440mm. so that can pass easily through narrow corridors and doorways. ASIMO’s joint link configuration is partly modified from the previous prototypes. This configuration is the same as P3 for the legs. The shoulder angle has been extended to allow the function in a wider operational space for the arms, and when the degrees of freedom in its wrists have been reduced, it’s fitted with motor driven five finger hands.

To help with the control and movement of ASIM, it is around 20 CPUs and a large number of sensors are installed into the robot. Several of theses are used in each of the robot’s subsystems, including audio visual sensing and recognition, the actuation of its arm and legs, communication with the operator, and power management. Those are installed in various places around its body, including a number of CPUs. The present ASIMO has improved greatly its interaction and communication with both its environments and operators. ASIMO’s walking functions allowing it to walk smoothly, stable way and flexible.

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