ASIMO/Catalogs

E0 (1986)

101.3cm

16.5kg

degrees of freedom x 6 (7 if centroid added?)

Crotch joints 1 × 2 degrees of freedom (left)

Knee joint 1 × 2 degrees of freedom (left)

The ankle joint 1 × 2 degrees of freedom (left)

DC servo motors Paul screw reducer

× 4 load cells Pressure sensitive (For ground detection)

5 to 20 seconds per step 1 (static walking)

http://www.sci-museum.kita.osaka.jp/news/text/2000/e001202e0.html

---

P1 (1994)

191.5cm

175.0 kg

degrees of freedom x 30

Rotation of the entire leg 1 × 2 degrees of freedom (left)

Crotch joints (all sides) 2 × 2 degrees of freedom (left)

Knee joint (rear) 1 × 2 degrees of freedom (left)

Ankle joints (all sides) 2 × 2 degrees of freedom (left)

The shoulder joint (rotation of the arm back and forth). 3 × 2 degrees of freedom (left)

Elbow joint (rear) 1 × 2 degrees of freedom (left)

The wrist joint (right and left hand rotation around) 3 × 2 degrees of freedom (left)

Grabbing 2 × 2 degrees of freedom (left)

DC servo motors

Harmonic drive speed reducer

Camera field of view The role of eye

Inclinometer (Slope of the body). The role of the semicircular canals

G-Sensor(Postural change)

6-axis force sensor (ankle wrist) Pressure sensitive

http://www.sci-museum.kita.osaka.jp/news/text/2000/e001202p1.html

---

P2 (1995)

1995

Height 182.0cm 182.0cm

Weight 210.0kg 210.0kg

Degrees of freedom Leg Rotation of the entire leg 1 × 2 degrees of freedom (left)

Crotch (again) joints (all sides) 2 × 2 degrees of freedom (left)

Knee (knee) joint (rear) 1 × 2 degrees of freedom (left)

Ankle joints (all sides) 2 × 2 degrees of freedom (left)

Arm The shoulder joint (rotation of the arm back and forth). 3 × 2 degrees of freedom (left)

Elbow (elbow) joint (rear) 1 × 2 degrees of freedom (left)

Hand The wrist joint (right and left hand rotation around) 3 × 2 degrees of freedom (left)

Grab those moves 2 × 2 degrees of freedom (left)

Total 30 degrees of freedom

Actuator DC servo motors

Harmonic drive speed reducer

Sensor Camera field of view

Inclinometer (Slope of the body).

(Postural change)

G-Sensor

6-axis force sensor (ankle wrist) Pressure sensitive

http://www.sci-museum.kita.osaka.jp/news/text/2000/e001208p2.html