doi: 10.1098/rsta.2006.1917
, 11-19365 2007 Phil. Trans. R. Soc. A Masato Hiro and Kenichi Ogawa
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Honda humanoid robots development
B Y M ASATO H IROSE 1,*
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AND K ENICHI O GAWA 21Honda R&D Co.,Ltd,and 2Honda Engineering Co.,Ltd
Wako rearch Centre,8-1Honcho,Wako-shi,Saitama 351-0114,Japan
Honda has been doing rearch on robotics since 1986with a focus upon bipedal walking technology.T
he rearch started with straight and static walking of the first prototype two-legged robot.Now,the continuous transition from walking in a straight line to making a turn has been achieved with the latest humanoid robot ASIMO.ASIMO is the most advanced robot of Honda so far in the mechanism and the control system.ASIMO’s configuration allows it to operate freely in the human living space.It could be of practical help to humans with its ability of five-finger arms as well as its walking function.The target of further development of ASIMO is to develop a robot to improve life in human society.Much development work will be continued both mechanically and electronically,staying true to Honda’s ‘challenging spirit’.
Keywords:humanoid robots;biped walking;applications
1.Introduction
Following in the steps of Honda’s motorcycles,cars and power products,in 1986Honda took up a new challenge in mobility—the development of a two-legged humanoid robot that could walk.The main concept behind Honda’s robot R&D was to develop a more viable mobility that would allow robots to help and live in harmony with people.
The rearch began by envisioning the ideal robot form for u in human society;the robot would ne
ed to be able to manoeuvre between objects in a room and be able to go up and down stairs.For this reason,it had to have two legs,just like a person.
In addition,if a successful two-legged walking technology could be achieved,the robot would need to be able to walk on an uneven ground and be able to function in a wide range of environments.
Although considered extremely difficult at the time,Honda t itlf this ambitious goal and developed a revolutionary new technology to create a two-legged,or bipedal,walking robot.What follows is an outline of Honda’s R&D into humanoid robots to achieve this ambitious
goal.
Phil.Trans.R.Soc.A (2007)365,11–19
doi:10.1098/rsta.2006.1917
Published online 17November 2006
One contribution of 15to a Theme Issue ‘Walking machines’.
*Author for correspondence (masato_hiro@n.w.jp).
2.Evolution of a Honda humanoid robot
(a )Overview
Honda’s rearch into bipedal humanoid robots began in 1986,and as figure 1demonstrates,we have made a steady progress ever since.The first milestone was to develop a bipedal prototype that could walk in a straight and static way.It was from this early progress that we were able to reach the next key stage of development,which was to develop a more dynamic and stable form of walking.Coupled with this was the need to master walking over uneven surfaces and then stairs.In 1993,a torso and two arms were successfully added to complete our first truly humanoid robot.
The next challenge was to modify the robot so that it could adapt and operate in real world environments.This stage of development saw the robot’s structure and operating systems become smaller and lighter.It was also in this pha that communication aids were introduced as well as the early stages of intelligence,allowing the robot to recognize and interact with people.
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Honda’s rearch is continuing and with this we will bring further improvements,which will e ASIMO moving ever clor to becoming a real and viable assistant for people in our human environment.
(b )Basic rearch in the 1980s and 1990s
E0was our first robot (‘E’means electronics),and with this we took on the challenge of creating a two-legged robot that could walk.Walking by putting one leg before the other was successfully achieved,and this was assisted by the application of linear actuators (electronic ‘muscles’)to its joints.However,taking nearly 30s between steps,it walked very slowly in a straight line.To increa this speed,and to allow the robot to walk on uneven surfaces or slopes,faster walking speeds needed to be achieved.
To achieve this faster walking pace,it was necessary to study how humans walk.So in the next stage,from E1through to E3,human walking was thoroughly rearched and analyd.It was through the studies that a faster
walking a step-by-step approach has been taken, starting with a basic, static walk, through an automatically武汉翻译公司
adjustable, intelligent walk, ending towards the capability of working for a human-being
Figure 1.Evolution of a Honda humanoid robot.
M.Hiro and K.Ogawa
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programme was created and input into the robot.For example,E1saw the introduction of a basic joint structure;with E2,we achieved our first dynamic walking robot,which could also go up and down stairs;and with E3,we were able to increa the walking speed up to 4.7km h K 1.It could also carry a payload of 70kg.From 1991to 1993(E4–E5–E6),the rearch focud on completing the basic functions of two-legged walking and establishing technology for stable walking.E6,the final robot in the ries,was the last of Honda’s robots with only legs and benefited from the integration of all the autonomous walking functions developed thus far into one lf-contained system.Environment maps were also installed at this stage to aid navigation.
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(c )Prototypes 2and 3
From 1993,work began on developing a completely independent humanoid robot and in December 1996,we announced the world’s first lf-regulating,two-legged humanoid robot called P2(prototype 2).This robot was 182cm tall with a weight of 210kg (figure 2).
Using wireless techniques,the torso contained a computer,32motors,a battery,a wireless radio and other necessary devices,all of which were built into the robot.In the early prototypes,independent walking,walking up and down stairs,trolley pushing and other simple operations were also achieved wirelessly,allowing the robot to be operated independently.The robots also benefited from the introduction of a number of nsors,including optical fibre gyros,inclination nsors,ground reaction force nsors and four cameras.Other advanced abilities were developed at this stage,including an ability to compensate against external forces (so when P2was pushed,it would resist),zero moment point nsing (allowing the robot to step back if it was pushed further),collision avoidance (if someone stepped into the robot’s walking line,P2stopped autonomously and continued when they had pasd)and improved systems to allow it to walk on an uneven floor.
P2’s degrees of freedom were as follows:legs,12(6!2);arms,14(7!2);hands,4(2!2);and cameras,4(2!2).
carry怎么读height: 182 cm
weight: 210 kg
dimensions:
600756300
1820400400300
Figure 2.Prototype 2(20December 1996).
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Honda humanoid robots development
While P2was a major advance in our robotics rearch,there were still many areas that required improvements.For example,P2was far too large and heavy,and it had an operational time of only 15min (owing to its high power motors and a heavy energy consumption of nearly 3kW during walking).Improvements to the robot’s reliability and maintenance were also required.
This led to the development of prototype 3(P3).The major difference between this and our previous prototypes was its reduced size and weight (it was 160cm tall and weighed 130kg).We also replaced our existing motors with brushless DC motors to help with the robot’s reliability (figure 3).
(d )ASIMO
Using the experience gained from the prototypes P2and P3,the rearch then began on a new technology for actual u.ASIMO reprents the fruition of this pursuit and is our latest biped robot.Its name,ASIMO,stands for advanced step in innovative mobility,and it is the collective name for all of Honda’s humanoid robots.
In Japane,there are many words that sound similar to ASIMO.For example,‘ashi’means leg and ‘ashita’means tomorrow,so sometimes we say ASIMO is an abbreviation of ‘asita-no’mobility.This means mobility in the future (figure 4).ASIMO was conceived to function in an actual human living environment in the near future.It is easy to operate,has a convenient size and weight and can move freely within the human living environment,all with a people-friendly design.
3.Details of ASIMO
(a )Concept of development
As outlined previously,Honda’s vision when it first embarked on its R&D into humanoid robotics was to create a new form of mobility that could be of practical help to humans (figure 5).
specifications:1. degrees of freedom legs:arms:hands:cameras:2. actuators brushless DC rvomoto
rs at each joint with a harmonic-drive reduction gear 3. nsors optical fibre gyros accelerometers ankle and wrist force nsors cameras (operates for 25min)
6 × 2 = 122 × 1 = 21 × 2 = 2
去新加坡留学怎么样7 × 2 = 14600555
270
2701600350350height: 160 cm
weight: 130 kg
dimensions:sp是什么
Figure 3.Prototype 3.
M.Hiro and K.Ogawa 14
(b )Configuration The robot’s size was chon to allow it to operate freely in the human living space and make it people-friendly (figure 6).When designing ASIMO,we studied the reach of the robot’s ha
nds and its squatting position to access things,such as doorknobs,light switches,electric outlets and other things in the daily life environment.The location of the robot’s elbows and shoulders is also dictated by the normal height of desks and workbenches.The current ASIMO is also Honda’s first prototype robot that is capable of tackling both off-road and indoor environments.
ASIMO’s shoulders are positioned at a height of 910mm,allowing it to benefit from an upper reach as high as 1290mm.Its legs are 610mm long,which enable it to go up and down stairs.In total,ASIMO is 1200mm tall.ASIMO’s width is t at 450mm and has a depth of 440mm,so that it can easily pass through narrow doorways and corridors.Figure 7outlines the specifications of the current ASIMO in detail.ASIMO’s joint–link configuration is partly modified from the previous
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high level technological evolution public Figure 5.Honda’s target consumer robot market aim.The pet robot market is developing and AIBO is a top runner.In the future,the work domain of the robot will expand.(Edu-tainment Z education C entertainment.)
20 November 2000
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debut Figure 4.ASIMO (Advanced Step in Innovative MObility).
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Honda humanoid robots development
