ASIMO/Catalogs
| Measurements | DOFs | ||
|---|---|---|---|
| height | 101.3 cm | Crotch joint | 1 x 2 |
| weight | 16.5 kg | Knee joint | 1 x 2 |
| Ankle joint | 1 x 2 | ||
| total | 6 | ||
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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