Asimo阿西莫相关技术指南

theworld’smostadvancedhumanoidrobotROBOTDEVELOPMENT3CreatingNewMobility4TheConceptbehindHonda’sRobotR&D4HISTORYOFHUMANOIDS51986(E0)51987–1991(E1,E2,E3)51991–1993(E4,E5,E6)51993–1997(P1,P2,P3)62000–2005(ASIMOv1)62005–Current(ASIMOv2)6ASIMOv17Overview7DesignConcept8Specifications9Walking10Arms13Intelligence14ASIMOv216NewASIMO16KeySpecifications17MajorNewFunctions17THEFUTURE18CONTENTSASIMOV2:TECHNICALGUIDE:ROBOTDEVELOPMENT:02:ROBOTDEVELOPMENTAIMINGFORFUNCTIONGOUCOTECHNICALGUIDE:ROBOTDEVELOPMENT:03:CREATINGNEWMOBILITYFollowinginthestepsofHondamotorcycles,carsandpowerproducts,Hondahastakenupanewchallengeinmobility-thedevelopmentofatwo-leggedhumanoidrobotthatcanwalk.THECONCEPTBEHINDHONDA’SROBOTR&DThemainconceptbehindHonda’srobotR&Dwastocreateamoreviablemobilitythatallowsrobotstohelpandliveinharmonywithpeople.Researchbeganbyenvisioningtheidealrobotformforuseinhumansociety.Therobotwouldneedtobeabletomanoeuvrebetweenobjectsinaroomandbeabletogoupanddownstairs.Forthisreasonithadtohavetwolegs,justlikeaperson.Inaddition,iftwo-leggedwalkingtechnologycouldbeestablished,therobotwouldneedtobeabletowalkonunevengroundandbeabletofunctioninawiderangeofenvironments.Althoughconsideredextremelydifficultatthetime,Hondasetitselfthisambitiousgoalanddevelopedrevolutionarynewtechnologytocreateatwo-leggedwalkingrobot.ASIMOV2:TECHNICALGUIDE:ROBOTDEVELOPMENT:04:Honda’sfirstrobotEOisn’tthefastestofwalkers.Infactittakesupto20secondstocompleteasinglestep.That’sbecauseEOmovesonefootforward,thenslowlytransfersitsbalancebeforemovingtheotherfoot.Hardlyhuman-like,butaworthyfirststep.≥E0–Walkingbyputtingonelegbeforetheotherisachieved.However,EOtakesbetween5to20secondstotakeastepandcanonlywalkinastraightline.MeetE1,E2andE3–thedynamicwalkingrobots.Ratherthanbalancingbeforemoving,theserobotsleanintotheirnextstep,shifttheirweightandmovetheotherfootforwardtocatchthemselves,justlikeyouorIdo.Theyworkfineonacompletelyflatsurface.Butnotsofineonanythingelse.≥E1–Thisearlyprototypeoflatermodelswalksat0.25km/handhasadistinctmovementbetweeneachleg.≥E2–Thefirstmodelthatcanwalk‘dynamically’.E2shiftsitsweightforward,andleansintothenextstep,achieving1.2km/h.≥E3–E3features‘thigh-like’legsandisfurtherrefinedtowalkatamuchmorehuman3km/h.E4,E5andE6arearealleapforward.Theyfeature‘posturecontrol’technologiesthatallowthemtocompensateiftheybecomeoff-balance.Inotherwordstheycaneasilywalkonanincline,upstairs,oroverunevensurfaces.They’restillnotthemostfriendlylookingrobots,butthey’recertainlymastersofwalking.≥E4–Kneelengthisincreasedto40cmtoallowE4tosimulatequickhumansteps.Thisresultsinawalkingspeedof4.7km/h.≥E5–E5featuresposturecontroltechnologiestostabilisewalking.Thisallowsittowalkonslopingsurfacesandsteps.≥E6–E6hasautonomouscontrolofbalancesoitcancopewithandreacttodifficultandunevensurfaces.1986(E0)1987–1991(E1,E2,E3)1991–1993(E4,E5,E6)Thefirsttwo-leggedwalkinghumanoidrepresentsthefruitionofHondaengineers’questtocreateaninnovativekindofmobilitythatbringsawholenewvaluetohumansocietyinperfectco-existenceandharmony.Indeed,man’sdreamhastakenthefirst(butsteady)stepintothefutureastherobotstepsforward.HISTORYOFHUMANOIDSASIMOV2:TECHNICALGUIDE:HISTORYOFHUMANOIDS:05:TheconceptbehindHonda’sRobotR&D...tocreateamoreviablemobilitythatallowsrobotstohelpandliveinharmonywithpeople.Withtheirheads,bodiesandarms,PrototypesP1,P2andP3certainlylookmorelikerobots.Theycanturnonswitches,pickupandcarryobjects,evenpushcarts.AndbyP2theycanevendoitwirelessly.Armsandabodyalsohelpwithbalance.PushP2andhewon’tfallover.You’llalsoseethey’regettingsmaller.P1’sheightofover1.9metresishardlya‘friendly’sizeforarobot.≥P1–Thefirst‘human’prototyperobotfeaturesanupperbodyandarms.P1canoperateswitchesandpickupandcarryobjects.≥P2–P2featuresaplastic‘skin’andiscompletelywireless.Itstunsthepublicwithitsrealisticmovement.≥P3–P3isacompletelyindependenthumanoidrobot.Itsdecentralisedcontrolsystemsandnewcomponentmaterialsmeansitissmallerandlighterthanitspredecessors.ThisisASIMO.ASIMOcanwalkupstairs,walkbackwards,balanceononefoot,evenrecognisefaces.WhatmakesASIMOsodifferentisPredictedMovementControl.Unlikeotherrobotsthathavetostopandshuffletochangedirection,ASIMOcanturnwithoutstopping.You’llalsonoticeASIMOhasamoreattractivedesignandisamuchmorepeople-friendly120cmtall.≥ASIMOv1–Lighter,smaller,moreflexibleandmorehuman-like–ASIMOisthefirstrobottofeaturepredictedmovementcontrolwhichallowsitturnwithoutstopping.ASIMOiscontinuallybeingdeveloped,andin2005anewmoremobileversionis‘born’.ASIMOcanrun,turnwhilerunning,andevenperformbasicreceptionisttasks.Butwhatnext?ThedreamforASIMOnowis‘brainlike’intelligence.Thatmeanslearningbysensingandexperiencingitsenvironment–somethingonlya‘walking’robotcando.≥ASIMOv2–ASIMOcanrunat6km/handeventurnwhilerunning.Itcanalsoperformbasicreceptiondutiesandholdhandswhilewalking.1993–1997(P1,P2,P3)2000–2005(ASIMOv1)2005–Current(ASIMOv2)ASIMOV2:TECHNICALGUIDE:HISTORYOFHUMANOIDS:06:ASIMOv1ASIMOwasconceivedtofunctioninanactualhumanlivingenvironmentinthenearfuture.OVERVIEWAsexemplifiedbyP2andP3,thetwo-leggedwalkingtechnologydevelopedb