ASIMO/Catalogs: Difference between revisions

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{| border="1" cellpadding="5" cellspacing="0" align="center"
{| border="0" cellpadding="5" cellspacing="0" align="center"  
|+ '''E0''' (1986)
|-
|-
! colspan="2" style="background: #efefef;" | Measurements
|
! colspan="2" style="background: #CEE0F2;" | Second header
{| cellpadding="5" cellspacing="0" align="center"
|+ '''E0''' (1986)<ref name="E0osaka">"ホンダ ２足歩行型ロボット Ｅ０." Osaka Science Museum, 2000. Web. 20 Nov. 2011. <http://www.sci-museum.kita.osaka.jp/news/text/2000/e001202e0.html>.</ref>
|-
|-
| '<small>''height'''</small>
! colspan="2" style="background: #CCCCFF;" | <small>Measurements</small>
| 101.3&nbsp;cm
! colspan="2" style="background: #CCCCFF;" | DOFs
| &nbsp;
| rowspan="2" style="border-bottom: 3px solid grey;" valign="top" |
right side
|-
|-
| <small>'''weight'''</small>
| style="background: #E6E6FA;" | <small>'''height'''</small>
| style="border-bottom: 3px solid grey;" | 16.5&nbsp;kg
| style="background: #F0F8FF;" | 101.3&nbsp;cm
| style="border-bottom: 3px solid grey;" | lower middle
| style="background: #FFFFF0;" | <small>''Hip joint''</small>
| style="background: #F0F8FF;" | 1 x 2
|-
|-
| colspan="3" align="center" |
| style="background: #E6E6FA;" | <small>'''weight'''</small>
{| border="0"
| style="background: #F0F8FF;" | 16.5&nbsp;kg
|+ ''A table in a table''
| style="background: #FFFFF0;" | <small>''Knee joint''</small>
| style="background: #F0F8FF;" | 1 x 2
|-
| colspan="2" style="background: #CCCCFF;" align="center" | <small>'''Walking'''</small>
| style="background: #FFFFF0;" | <small>''Ankle joint''</small>
| style="background: #F0F8FF;" | 1 x 2
|-
|-
| align="center" width="150" | [[File:Wiki.png]]
| style="background: #E6E6FA;" | <small>'''type'''</small>
| align="center" width="150" | [[File:Wiki.png]]
| style="background: #F0F8FF;" | Static*
| style="background: #E6E6FA;" | <small>'''total'''</small>
| style="background: #F0F8FF;" | 6
|-
| style="background: #E6E6FA;" | <small>'''speed'''</small>
| style="background: #F0F8FF;" |
| colspan="2" style="background: #F0F8FF;" |
|-
| style="background: #E6E6FA;" | <small>'''variation'''</small>
| style="background: #F0F8FF;" | None
| colspan="2" style="background: #F0F8FF;" |
|-
| style="background: #E6E6FA;" | <small>'''period'''</small>
| style="background: #F0F8FF;" | 5 — 20&nbsp;s/step<ref name="asimohistory">"History of ASIMO." ''ASIMO''. Honda. Web. 21 Nov. 2011. <http://asimo.honda.com/asimo-history/>.</ref>
| colspan="2" style="background: #F0F8FF;" |
|-
| colspan="4" style="height: 42px; background: #F0F8FF;" | 
|}
|
{| cellpadding="5" cellspacing="0" align="center"
|+ '''P2''' (1995)<ref name="P2osaka">"ホンダ ２足歩行型ロボット Ｐ２" Osaka Science Museum, 2000. Web. 20 Nov. 2011. <http://www.sci-museum.kita.osaka.jp/news/text/2000/e001208p2.html>.</ref>
|-
! colspan="2" style="background: #CCCCFF; width: 120;" | <small>Measurements</small>
! colspan="3" style="background: #CCCCFF;" | DOFs
|-
| style="background: #E6E6FA;" | <small>'''height'''</small>
| style="background: #F0F8FF;" | 182.0&nbsp;cm
| rowspan="2" style="background: #FFFFF0;" | <small>''Hip joint''</small>
| style="background: #FFFFF0;" | <small>(roll axis)</small>
| style="background: #F0F8FF;" | 2 x 2
|-
| style="background: #E6E6FA;" | <small>'''weight'''</small>
| style="background: #F0F8FF;" | 210.0&nbsp;kg
| style="background: #FFFFF0;" | <small>(yaw axis)</small>
| style="background: #F0F8FF;" | 1 x 2
|-
| colspan="2" style="background: #CCCCFF;" align="center" | <small>'''Walking'''</small>
| colspan="2" style="background: #FFFFF0;" | <small>''Knee joint''</small>
| style="background: #F0F8FF;" | 1 x 2
|-
| style="background: #E6E6FA;" | <small>'''type'''</small>
| style="background: #F0F8FF;" | Dynamic**
| colspan="2" style="background: #FFFFF0;" | <small>''Ankle joint''</small>
| style="background: #F0F8FF;" | 2 x 2
|-
| style="background: #E6E6FA;" | <small>'''speed'''</small>
| style="background: #F0F8FF;" | ≤2.0&nbsp;km/h<ref name="asimop3spec">"P3 Specifications." ''ASIMO''. Honda. Web. 21 Nov. 2011. <http://world.honda.com/ASIMO/P3/spec/>.</ref>
| colspan="2" style="background: #FFFFF0;" | <small>''Shoulder joint''</small>
| style="background: #F0F8FF;" | 3 x 2
|-
| style="background: #E6E6FA;" | <small>'''variation'''</small>
| style="background: #F0F8FF;" | limited
| colspan="2" style="background: #FFFFF0;" | <small>''Elbow joint''</small>
| style="background: #F0F8FF;" | 1 x 2
|-
| style="background: #E6E6FA;" | <small>'''period'''</small>
| style="background: #F0F8FF;" | 0.6 — 1.0&nbsp;s/step<ref name="p2period">"''Honda P2''. ''YouTube''. Web. 21 Nov. 2011. <http://www.youtube.com/watch?v=KvT5O6BQV_0>.</ref>
| colspan="2" style="background: #FFFFF0;" | <small>''Wrist joint''</small>
| style="background: #F0F8FF;" | 3 x 2
|-
| style="background: #F0F8FF;"  colspan="2" rowspan="2" |
| colspan="2" style="background: #FFFFF0;" | <small>''Hand''</small>
| style="background: #F0F8FF;" | 2 x 2
|-
| colspan="2" style="background: #E6E6FA;" | <small>'''total'''</small>
| style="background: #F0F8FF;" | 30
|-
|}
|
{| cellpadding="5" cellspacing="0" align="center"
|+ '''P3''' (1996)<ref name="mit1996">"Honda P3." ''Robosapiens''. MIT. Web. 21 Nov. 2011. <http://robosapiens.mit.edu/p3.htm>.</ref><ref name="asimop3spec"/>
|-
! colspan="2" style="background: #CCCCFF; width: 120;" | <small>Measurements</small>
! colspan="3" style="background: #CCCCFF;" | DOFs
|-
| style="background: #E6E6FA;" | <small>'''height'''</small>
| style="background: #F0F8FF;" | 160.0&nbsp;cm
| rowspan="2" style="background: #FFFFF0;" | <small>''Hip joint''</small>
| style="background: #FFFFF0;" | <small>(roll axis)</small>
| style="background: #F0F8FF;" | 2 x 2
|-
| style="background: #E6E6FA;" | <small>'''weight'''</small>
| style="background: #F0F8FF;" | 130.0&nbsp;kg
| style="background: #FFFFF0;" | <small>(yaw axis)</small>
| style="background: #F0F8FF;" | 1 x 2
|-
| colspan="2" style="background: #CCCCFF;" align="center" | <small>'''Walking'''</small>
| colspan="2" style="background: #FFFFF0;" | <small>''Knee joint''</small>
| style="background: #F0F8FF;" | 1 x 2
|-
| style="background: #E6E6FA;" | <small>'''type'''</small>
| style="background: #F0F8FF;" | Dynamic**
| colspan="2" style="background: #FFFFF0;" | <small>''Ankle joint''</small>
| style="background: #F0F8FF;" | 2 x 2
|-
| style="background: #E6E6FA;" | <small>'''speed'''</small>
| style="background: #F0F8FF;" | ≤2.0&nbsp;km/h
| colspan="2" style="background: #FFFFF0;" | <small>''Shoulder joint''</small>
| style="background: #F0F8FF;" | 3 x 2
|-
| style="background: #E6E6FA;" | <small>'''variation'''</small>
| style="background: #F0F8FF;" | limited
| colspan="2" style="background: #FFFFF0;" | <small>''Elbow joint''</small>
| style="background: #F0F8FF;" | 1 x 2
|-
| style="background: #E6E6FA;" | <small>'''period'''</small>
| style="background: #F0F8FF;" | ~0.7&nbsp;s/step<ref name="p3period">"''Honda's P3 walking''. ''YouTube''. Web. 21 Nov. 2011. <http://www.youtube.com/watch?v=7T_O9BkkFik>.</ref>
| colspan="2" style="background: #FFFFF0;" | <small>''Wrist joint''</small>
| style="background: #F0F8FF;" | 3 x 2
|-
| style="background: #F0F8FF;"  colspan="2" rowspan="2" |
| colspan="2" style="background: #FFFFF0;" | <small>''Hand''</small>
| style="background: #F0F8FF;" | 1 x 2
|-
| colspan="2" style="background: #E6E6FA;" | <small>'''total'''</small>
| style="background: #F0F8FF;" | 28
|-
|-
| align="center" colspan="2" style="border-top: 1px solid red;<!--
  --> border-right: 1px solid red; border-bottom: 2px solid red;<!--
  --> border-left: 1px solid red;" |
Two Wikipedia logos
|}
|}
|}
|}


E0 (1986)
{| border="0" cellpadding="5" cellspacing="0" align="center"
 
|-
101.3cm
|
 
{| cellpadding="5" cellspacing="0" align="center"
16.5kg
|+ '''ASIMO''' (2000)<ref name="asimotechguide9">"ASIMO Technical Guide". pp.&nbsp;9</ref>
 
|-
degrees of freedom x 6 (7 if centroid added?)
! colspan="2" style="background: #CCCCFF; width: 120;" | <small>Measurements</small>
 
! colspan="3" style="background: #CCCCFF;" | DOFs
Crotch joints 1 × 2 degrees of freedom (left)
|-
 
| style="background: #E6E6FA;" | <small>'''height'''</small>
Knee joint  1 × 2 degrees of freedom (left)
| style="background: #F0F8FF;" | 120.0&nbsp;cm
 
| rowspan="2" style="background: #FFFFF0;" | <small>''Hip joint''</small>
The ankle joint 1 × 2 degrees of freedom (left)
| style="background: #FFFFF0;" | <small>(roll axis)</small>
 
| style="background: #F0F8FF;" | 2 x 2
 
|-
DC servo motors
| style="background: #E6E6FA;" | <small>'''weight'''</small>
Paul screw reducer
| style="background: #F0F8FF;" | 52.0&nbsp;kg
 
| style="background: #FFFFF0;" | <small>(yaw axis)</small>
× 4 load cells Pressure sensitive
| style="background: #F0F8FF;" | 1 x 2
(For ground detection)
|-
 
| colspan="2" style="background: #CCCCFF;" align="center" | <small>'''Walking'''</small>
5 to 20 seconds per step 1 (static walking)
| colspan="2" style="background: #FFFFF0;" | <small>''Knee joint''</small>
 
| style="background: #F0F8FF;" | 1 x 2
http://www.sci-museum.kita.osaka.jp/news/text/2000/e001202e0.html
|-
------
| style="background: #E6E6FA;" | <small>'''type'''</small>
P1 (1994)
| style="background: #F0F8FF;" | Dynamic**
 
| colspan="2" style="background: #FFFFF0;" | <small>''Ankle joint''</small>
191.5cm
| style="background: #F0F8FF;" | 2 x 2
 
|-  
175.0 kg
| style="background: #E6E6FA;" | <small>'''speed'''</small>
 
| style="background: #F0F8FF;" | ≤1.6&nbsp;km/h
degrees of freedom x 30
| colspan="2" style="background: #FFFFF0;" | <small>''Shoulder joint''</small>
 
| style="background: #F0F8FF;" | 3 x 2
Rotation of the entire leg 1 × 2 degrees of freedom (left)
|-
 
| style="background: #E6E6FA;" | <small>'''variation'''</small>
Crotch joints (all sides) 2 × 2 degrees of freedom (left)
| style="background: #F0F8FF;" | full
 
| colspan="2" style="background: #FFFFF0;" | <small>''Elbow joint''</small>
Knee joint (rear) 1 × 2 degrees of freedom (left)
| style="background: #F0F8FF;" | 1 x 2
 
|-
Ankle joints (all sides) 2 × 2 degrees of freedom (left)
| style="background: #F0F8FF;"  colspan="2" rowspan="5" |
 
| colspan="2" style="background: #FFFFF0;" | <small>''Wrist joint''</small>
The shoulder joint (rotation of the arm back and forth). 3 × 2 degrees of freedom (left)
| style="background: #F0F8FF;" | 1 x 2
 
|-
Elbow joint (rear) 1 × 2 degrees of freedom (left)
| colspan="2" style="background: #FFFFF0;" | <small>''Hand''</small>
 
| style="background: #F0F8FF;" | 1 x 2
The wrist joint (right and left hand rotation around) 3 × 2 degrees of freedom (left)
|-
 
| colspan="2" style="background: #FFFFF0;" | <small>''Head''</small>
Grabbing 2 × 2 degrees of freedom (left)
| style="background: #F0F8FF;" | 2
 
|-
DC servo motors
| colspan="2" style="background: #E6E6FA;" | <small>'''total'''</small>
 
| style="background: #F0F8FF;" | 26
Harmonic drive speed reducer
|-
 
| colspan="4" style="height: 26px; background: #F0F8FF;" |
Camera field of view The role of eye
|-
 
|}
Inclinometer (Slope of the body). The role of the semicircular canals
|
 
{| cellpadding="5" cellspacing="0" align="center"
G-Sensor(Postural change)
|+ '''The New ASIMO''' (2005)<ref name="asimotechguide17">"ASIMO Technical Guide". pp.&nbsp;17</ref>
 
|-
6-axis force sensor (ankle wrist) Pressure sensitive
! colspan="2" style="background: #CCCCFF; width: 120;" | <small>Measurements</small>
 
! colspan="3" style="background: #CCCCFF;" | DOFs
http://www.sci-museum.kita.osaka.jp/news/text/2000/e001202p1.html
|-
 
| style="background: #E6E6FA;" | <small>'''height'''</small>
------------
| style="background: #F0F8FF;" | 130.0&nbsp;cm
P2 (1995)
| rowspan="2" style="background: #FFFFF0;" | <small>''Hip joint''</small>
 
| style="background: #FFFFF0;" | <small>(roll axis)</small>
1995 
| style="background: #F0F8FF;" | 2 x 2
 
|-
Height  182.0cm 182.0cm 
| style="background: #E6E6FA;" | <small>'''weight'''</small>
 
| style="background: #F0F8FF;" | 54.0&nbsp;kg
Weight  210.0kg 210.0kg 
| style="background: #FFFFF0;" | <small>(yaw axis)</small>
 
| style="background: #F0F8FF;" | 1 x 2
Degrees of freedom  Leg  Rotation of the entire leg  1 × 2 degrees of freedom (left)
|-
| colspan="2" style="background: #CCCCFF;" align="center" | <small>'''Walking'''</small>
Crotch (again) joints (all sides)  2 × 2 degrees of freedom (left) 
| colspan="2" style="background: #FFFFF0;" | <small>''Knee joint''</small>
 
| style="background: #F0F8FF;" | 1 x 2
Knee (knee) joint (rear)  1 × 2 degrees of freedom (left) 
|-
 
| style="background: #E6E6FA;" | <small>'''type'''</small>
Ankle joints (all sides)  2 × 2 degrees of freedom (left) 
| style="background: #F0F8FF;" | Dynamic**
 
| colspan="2" style="background: #FFFFF0;" | <small>''Ankle joint''</small>
Arm The shoulder joint (rotation of the arm back and forth). 3 × 2 degrees of freedom (left) 
| style="background: #F0F8FF;" | 2 x 2
 
|-
Elbow (elbow) joint (rear) 1 × 2 degrees of freedom (left) 
| style="background: #E6E6FA;" | <small>'''speed'''</small>
 
| style="background: #F0F8FF;" | ≤2.7&nbsp;km/h
Hand The wrist joint (right and left hand rotation around)  3 × 2 degrees of freedom (left) 
| colspan="2" style="background: #FFFFF0;" | <small>''Shoulder joint''</small>
 
| style="background: #F0F8FF;" | 3 x 2
Grab those moves 2 × 2 degrees of freedom (left)
|-
| style="background: #E6E6FA;" | <small>'''variation'''</small>
Total  30 degrees of freedom 
| style="background: #F0F8FF;" | full
 
| colspan="2" style="background: #FFFFF0;" | <small>''Elbow joint''</small>
Actuator  DC servo motors 
| style="background: #F0F8FF;" | 1 x 2
 
|-
Harmonic drive speed reducer 
| colspan="2" style="background: #CCCCFF;" align="center" | <small>'''Running'''</small>
 
| colspan="2" style="background: #FFFFF0;" | <small>''Wrist joint''</small>
Sensor Camera field of view  
| style="background: #F0F8FF;" | 3 x 2
 
|-
Inclinometer (Slope of the body).
| style="background: #E6E6FA;" | <small>'''speed'''</small>
 
| style="background: #F0F8FF;" | ≤6.0&nbsp;km/h
(Postural change) 
| colspan="2" style="background: #FFFFF0;" | <small>''Hand''</small>
 
| style="background: #F0F8FF;" | 2 x 2
G-Sensor 
|-
 
| style="background: #F0F8FF;" colspan="2" rowspan="3" |
6-axis force sensor (ankle wrist) Pressure sensitive 
| colspan="2" style="background: #FFFFF0;" | <small>''Head''</small>
 
| style="background: #F0F8FF;" | 3
|-
| colspan="2" style="background: #FFFFF0;" | <small>''Torso''</small>
| style="background: #F0F8FF;" | 1
|-
| colspan="2" style="background: #E6E6FA;" | <small>'''total'''</small>
| style="background: #F0F8FF;" | 34
|-
|}
|}




http://www.sci-museum.kita.osaka.jp/news/text/2000/e001208p2.html
=== notes ===
<nowiki>*</nowiki><small>The center of gravity is kept within the supporting leg base area.</small>
<nowiki>**</nowiki><small>Static balance is intentionally terminated to maintain increased speed and range of footsteps.</small>
{{reflist}}

Latest revision as of 20:41, 20 December 2011

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https://en.citizendium.org/wiki/index.php?title=ASIMO/Catalogs&printable=yes
An informational catalog, or several catalogs, about ASIMO.
E0 (1986)[1]
Measurements DOFs
height 101.3 cm Hip joint 1 x 2
weight 16.5 kg Knee joint 1 x 2
Walking Ankle joint 1 x 2
type Static* total 6
speed
variation None
period 5 — 20 s/step[2]
P2 (1995)[3]
Measurements DOFs
height 182.0 cm Hip joint (roll axis) 2 x 2
weight 210.0 kg (yaw axis) 1 x 2
Walking Knee joint 1 x 2
type Dynamic** Ankle joint 2 x 2
speed ≤2.0 km/h[4] Shoulder joint 3 x 2
variation limited Elbow joint 1 x 2
period 0.6 — 1.0 s/step[5] Wrist joint 3 x 2
Hand 2 x 2
total 30
P3 (1996)[6][4]
Measurements DOFs
height 160.0 cm Hip joint (roll axis) 2 x 2
weight 130.0 kg (yaw axis) 1 x 2
Walking Knee joint 1 x 2
type Dynamic** Ankle joint 2 x 2
speed ≤2.0 km/h Shoulder joint 3 x 2
variation limited Elbow joint 1 x 2
period ~0.7 s/step[7] Wrist joint 3 x 2
Hand 1 x 2
total 28
ASIMO (2000)[8]
Measurements DOFs
height 120.0 cm Hip joint (roll axis) 2 x 2
weight 52.0 kg (yaw axis) 1 x 2
Walking Knee joint 1 x 2
type Dynamic** Ankle joint 2 x 2
speed ≤1.6 km/h Shoulder joint 3 x 2
variation full Elbow joint 1 x 2
Wrist joint 1 x 2
Hand 1 x 2
Head 2
total 26
The New ASIMO (2005)[9]
Measurements DOFs
height 130.0 cm Hip joint (roll axis) 2 x 2
weight 54.0 kg (yaw axis) 1 x 2
Walking Knee joint 1 x 2
type Dynamic** Ankle joint 2 x 2
speed ≤2.7 km/h Shoulder joint 3 x 2
variation full Elbow joint 1 x 2
Running Wrist joint 3 x 2
speed ≤6.0 km/h Hand 2 x 2
Head 3
Torso 1
total 34


notes

*The center of gravity is kept within the supporting leg base area. **Static balance is intentionally terminated to maintain increased speed and range of footsteps.

  1. ↑ "ホンダ ２足歩行型ロボット Ｅ０." Osaka Science Museum, 2000. Web. 20 Nov. 2011. <http://www.sci-museum.kita.osaka.jp/news/text/2000/e001202e0.html>.
  2. ↑ "History of ASIMO." ASIMO. Honda. Web. 21 Nov. 2011. <http://asimo.honda.com/asimo-history/>.
  3. ↑ "ホンダ ２足歩行型ロボット Ｐ２" Osaka Science Museum, 2000. Web. 20 Nov. 2011. <http://www.sci-museum.kita.osaka.jp/news/text/2000/e001208p2.html>.
  4. ↑ 4.0 4.1 "P3 Specifications." ASIMO. Honda. Web. 21 Nov. 2011. <http://world.honda.com/ASIMO/P3/spec/>.
  5. ↑ "Honda P2. YouTube. Web. 21 Nov. 2011. <http://www.youtube.com/watch?v=KvT5O6BQV_0>.
  6. ↑ "Honda P3." Robosapiens. MIT. Web. 21 Nov. 2011. <http://robosapiens.mit.edu/p3.htm>.
  7. ↑ "Honda's P3 walking. YouTube. Web. 21 Nov. 2011. <http://www.youtube.com/watch?v=7T_O9BkkFik>.
  8. ↑ "ASIMO Technical Guide". pp. 9
  9. ↑ "ASIMO Technical Guide". pp. 17
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