advanced step in innovative (2)

8/3/2019 Advanced Step in Innovative (2)

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CONTENTS

1. Introduction 1

2. What is ASIMO? 22.1 Honda's vision for ASIMO 2

3. ASIMO's Life Story 43.1 The ASIMO Timeline 4

4. ASIMO's Motion: Built Like a Human 64.1 ASIMO's Motion: Walks Like a Human 7

5. ASIMO's Motion: Smooth Moves 9

6. ASIMO's Sight 10

7. Controlling ASIMO 12

8. ASIMO's Power 148.1 Batteries Required 14

Conclusion



1. Introduction1. IntroductionNowNow aa daysdays robotrobot areare usedused forfor cookingcooking ourour

dinner,dinner, doingdoing ourour homehome work,work, cleaningcleaning ourour house,house,

oror getget ourour groceries?groceries? RobotsRobots alreadyalready dodo aa lotlot of of thethe jobs jobs thatthat wewe humanshumans don'tdon't wantwant toto do,do, ororsimplysimply can'tcan't dodo..

InIn factoriesfactories aroundaround thethe world,world, disembodieddisembodiedrobotrobot armsarms assembleassemble cars,cars, delicatelydelicately placeplace candiescandiesintointo theirtheir boxes,boxes, andand dodo allall sortssorts of of tedioustedious jobs jobs..ThereThere areare eveneven aa handfulhandful of of robotsrobots onon thethe marketmarketwhosewhose solesole job job isis toto vacuumvacuum thethe floorfloor..

Photo courtesy Honda Motor Co., Ltd.Fig. 1



2. What is ASIMO?2. What is ASIMO?

ASIMO,ASIMO, whichwhich standsstands forfor AdvancedAdvanced StepStep inin

InnovativeInnovative MobilityMobility,, waswas developeddeveloped byby thetheHondaHonda MotorMotor CompanyCompany andand isis thethe mostmost advancedadvancedhumanoidhumanoid robotrobot inin thethe worldworld.. AccordingAccording toto thetheASIMOASIMO WebWeb site,site, ASIMOASIMO isis thethe onlyonly humanoidhumanoidrobotrobot inin thethe worldworld thatthat cancan walkwalk independentlyindependentlyandand climbclimb stairsstairs.. WhileWhile therethere areare severalseveral otherotherhumanoidhumanoid robotsrobots thatthat cancan walk,walk, nonenone havehave thethesmooth,smooth, realisticrealistic gaitgait thatthat ASIMOASIMO hashas..

InIn additionaddition toto ASIMO'sASIMO's abilityability toto walkwalk likelike wewedo,do, itit cancan alsoalso understandunderstand somesome spokenspoken commandscommands(currently(currently onlyonly inin Japanese)Japanese) andand recognizerecognize facesfaces..ASIMOASIMO hashas armsarms andand handshands soso itit cancan dodo thingsthings likeliketurnturn onon lightlight switches,switches, openopen doors,doors, carrycarry objects,objects,andand pushpush cartscarts..



2.1 Honda's vision for ASIMO2.1 Honda's vision for ASIMO

RatherRather thanthan buildingbuilding aa robotrobot thatthat wouldwould bebe

anotheranother toy,toy, HondaHonda wantedwanted toto createcreate aa robotrobot thatthatwouldwould bebe aa helperhelper forfor peoplepeople ---- aa robotrobot toto helphelp

aroundaround thethe house,house, helphelp thethe elderly,elderly, oror helphelpsomeonesomeone confinedconfined toto aa wheelchairwheelchair oror bedbed..

ASIMOASIMO isis 44 feetfeet ((11..22 meters)meters) high,high, whichwhich isis just justthethe rightright heightheight toto looklook eyeeye toto eyeeye withwith someonesomeoneseatedseated inin aa chairchair.. ASIMO'sASIMO's friendlyfriendly inin appearanceappearanceandand nonthreateningnonthreatening sizesize workwork wellwell forfor thethe purposespurposesHondaHonda hadhad inin mindmind whilewhile creatingcreating itit..



Fig.2 Photo courtesy Honda Motor Co., Ltd. ASIMO is just 4 feet tall



3. ASIMO's Life Story3. ASIMO's Life Story

HondaHonda beganbegan developmentdevelopment of of itsits humanoidhumanoidhelperhelper robotrobot inin 19861986.. HondaHonda engineersengineers knewknew thethe

robotrobot hadhad toto bebe ableable toto easilyeasily navigatenavigate aroundaround aahousehouse oror building,building, andand thatthat meantmeant thethe walkingwalkingtechnologytechnology hadhad toto bebe perfectperfect.. Therefore,Therefore, theirtheir firstfirstattemptsattempts werewere basicallybasically boxesboxes withwith legslegs.. OnceOnce thethewalkingwalking mechanismmechanism waswas mostlymostly developed,developed, arms,arms,

handshands andand finallyfinally aa headhead werewere addedadded..

3.1 The ASIMO Timeline3.1 The ASIMO Timeline

19861986 -- Static walkingStatic walking

TheThe firstfirst robotrobot HondaHonda builtbuilt waswas calledcalled EOEO.. EOEOwalkedwalked veryvery slowly,slowly, takingtaking sometimessometimes 2020 secondssecondstoto completecomplete aa singlesingle stepstep.. ThisThis waswas becausebecause EOEO diddid

whatwhat waswas calledcalled "static"static walkingwalking..""



19871987 -- Dynamic walkingDynamic walking

ByBy nownow engineersengineers hadhad developeddeveloped aa methodmethod forfor

"dynamic"dynamic walking,"walking," whichwhich isis muchmuch moremore humanhuman--likelike.. WithWith thisthis walkingwalking technology,technology, thethe robotrobot (now(nowcalledcalled prototypeprototype EE11,, soonsoon followedfollowed byby EE22 andand EE33asas researchresearch progressed)progressed)

19911991 -- WalkingWalking likelike aa propro

InIn prototypesprototypes EE44,, EE55 andand EE66,, Honda'sHonda'sengineersengineers perfectedperfected thethe walkingwalking mechanismmechanism toto thethepointpoint wherewhere thethe robotrobot couldcould easilyeasily walkwalk onon anan

incline,incline, upup stairs,stairs, andand onon unevenuneven terrainterrain.. BecauseBecausetrulytruly walkingwalking asas aa humanhuman doesdoes actuallyactually requiresrequiresthethe useuse of of thethe body,body, arms,arms, andand head,head, engineersengineershadhad toto movemove onon toto thethe nextnext stepstep andand addadd thethe restrestof of thethe bodybody..



19931993 -- A more humanA more human--looking robotlooking robot

WithWith aa body,body, arms,arms, handshands andand aa head,head, thethenextnext generationgeneration of of prototypesprototypes ((PP11,, PP22 andand PP33))lookedlooked moremore likelike aa "humanoid"humanoid.."" PP11,, however,however, waswas aaloominglooming 66 feetfeet 22 inchesinches ((188188 cm)cm) talltall andand weighedweighed386386 poundspounds ((175175 kg)kg).. PP22 waswas scaledscaled downdown slightlyslightlyinin height,height, butbut weighedweighed anan eveneven heavierheavier 463463 poundspounds((210210 kg)kg) ---- notnot somethingsomething youyou wantwant steppingstepping ononyouryour toestoes inin thethe kitchenkitchen.. But,But, itit couldcould walkwalk veryverywellwell onon unevenuneven surfaces,surfaces, inclines,inclines, andand couldcould eveneven

graspgrasp objectsobjects andand pushpush cartscarts.. PP22 couldcould evenevenmaintainmaintain itsits balancebalance whenwhen pushedpushed.. Finally,Finally, PP33 waswasbuiltbuilt atat aa moremore comfortablecomfortable (and(and lessless frightening)frightening) 55feetfeet 22 inchesinches ((157157 cm)cm) talltall.. WeighingWeighing 287287pounds(pounds(130130 kg),kg), PP33 couldcould walkwalk fasterfaster andand moremore

smoothlysmoothly thanthan itsits predecessorspredecessors..



19971997 -- The ASIMO we knowThe ASIMO we know

InIn thinkingthinking aboutabout howhow ASIMOASIMO waswas toto bebe used,used,

thethe engineersengineers mademade thethe decisiondecision toto furtherfurther reducereduceASIMO'sASIMO's sizesize toto 44 feetfeet ((122122 cm)cm) soso thatthat notnot onlyonlywouldwould itit notnot bebe intimidatingintimidating toto peoplepeople whowho werewereseatedseated (or(or standing,standing, forfor thatthat matter),matter), itit wouldwouldactuallyactually bebe atat eyeeye levellevel.. ThisThis heightheight alsoalso mademade ititpossiblepossible forfor ASIMOASIMO toto workwork atat tabletable heightheight oror atat aacomputer,computer, reachreach lightlight switchesswitches andand turnturn doordoorknobsknobs.. ASIMO'sASIMO's veryvery strongstrong butbut lightweightlightweightmagnesiummagnesium--alloyalloy body,body, coveredcovered inin plasticplastic "skin,""skin,"weighedweighed inin atat onlyonly 115115 poundspounds ((5252 kg)kg)..

TechnologyTechnology calledcalled ""predictedpredicted movementmovementcontrolcontrol"" allowedallowed ASIMOASIMO toto predictpredict itsits nextnextmovementmovement automaticallyautomatically andand shiftshift itsits weightweight totomakemake aa turnturn..



4. ASIMO's Motion: Built Like a Human4. ASIMO's Motion: Built Like a Human

Honda researchers began by studying the legs of Honda researchers began by studying the legs of

insects, mammals, and the motion of ainsects, mammals, and the motion of a mountainmountainclimberclimber with prosthetic legs to better understandwith prosthetic legs to better understandthe physiology and all of the things that take placethe physiology and all of the things that take placewhen we walkwhen we walk

Fig.3 Photo courtesy Honda Motor Co., Ltd. ASIMO's physiologyis developed to mimic human physiology.



RobotsRobots havehave joints joints thatthat researchersresearchers referrefer totoasas "degrees"degrees of of freedomfreedom.."" AA singlesingle degreedegree of of freedomfreedom allowsallows movementmovement eithereither rightright andand leftleft oror

upup andand downdown.. ASIMOASIMO hashas 2626 degreesdegrees of of freedomfreedomspreadspread overover differentdifferent pointspoints of of itsits bodybody inin orderorder totoallowallow itit toto movemove freelyfreely.. ThereThere areare twotwo degreesdegrees of of freedomfreedom inin ASIMO'sASIMO's neck,neck, sixsix onon eacheach armarm andand sixsixonon eacheach legleg.. TheThe numbernumber of of degreesdegrees of of freedomfreedom

necessarynecessary forfor ASIMO'sASIMO's legslegs waswas decideddecided bybymeasuringmeasuring humanhuman joint joint movementmovement whilewhile walkingwalkingonon flatflat groundground andand onon stairsstairs..

ASIMOASIMO alsoalso hashas aa speedspeed sensorsensor andand aa

gyroscopegyroscope sensorsensor mountedmounted onon itsits bodybody.. TheyTheyperf ormperform thethe taskstasks of of::

SensingSensing thethe positionposition of of ASIMO'sASIMO's bodybody andand thethespeedspeed atat whichwhich itit isis moving,moving,



4.1 ASIMO's Motion: Walks Like a Human

UnlessUnless youyou knowknow aa lotlot aboutabout robotics,robotics, youyou maymaynotnot fullyfully graspgrasp thethe incredibleincredible milestonemilestone itit isis thatthatASIMOASIMO walkswalks asas wewe dodo.. TheThe mostmost significantsignificant partpart of of ASIMO'sASIMO's walkwalk isis thethe turningturning capabilitiescapabilities.. RatherRatherthanthan havinghaving toto stopstop andand shuffle,shuffle, andand stopstop andand shuffleshuffleintointo aa newnew direction,direction, ASIMOASIMO leansleans andand smoothlysmoothlyturnsturns just just likelike aa humanhuman.. ASIMOASIMO cancan alsoalso self self--adjustadjust

itsits stepssteps inin casecase itit stumbles,stumbles, isis pushed,pushed, oror otherwiseotherwiseencountersencounters somethingsomething thatthat altersalters normalnormal walkingwalking..

RelayingRelaying adjustmentsadjustments forfor balancebalance toto thethe centralcentralcomputercomputer



5. ASIMO's Motion: Smooth Moves5. ASIMO's Motion: Smooth Moves

ASIMOASIMO cancan sensesense fallingfalling movementsmovements andand reactreacttoto themthem quicklyquickly;; butbut ASIMO'sASIMO's engineersengineers wantedwanted

moremore.. TheyThey wantedwanted thethe robotrobot toto havehave aa smoothsmoothgaitgait asas wellwell asas dodo somethingsomething thatthat otherother robotsrobots can'tcan'tdodo ---- turnturn withoutwithout stoppingstopping..

Fig.5 Photos courtesy Honda Motor Co., Ltd.



6. ASIMO's Sight6. ASIMO's SightInIn robotics,robotics, visionvision isis aa capturedcaptured

imageimage thatthat isis interpretedinterpreted basedbased ononprogrammedprogrammed templatestemplates..

ASIMO'sASIMO's visionvision systemsystem consistsconsists of of basicbasic videovideo camerascameras forfor eyes,eyes, locatedlocated ininitsits headhead.. ASIMOASIMO usesuses aa proprietaryproprietaryvisionvision algorithmalgorithm thatthat letslets itit see,see,recognize,recognize, andand avoidavoid runningrunning intointoobjectsobjects eveneven if if theirtheir orientationorientation andandlightinglighting areare notnot thethe samesame asas thosethose inin itsitsmemorymemory databasedatabase.. TheseThese camerascameras cancandetectdetect multiplemultiple objects,objects, recognizerecognizeprogrammedprogrammed faces,faces, andand eveneven interpretinterpret

handhand motionsmotions.. ForFor example,example, whenwhen youyouholdhold youryour handhand upup toto ASIMOASIMO inin aa "stop""stop"position,position, ASIMOASIMO stopsstops.. TheThe facialfacialrecognitionrecognition featurefeature allowsallows ASIMOASIMO totogreetgreet "familiar""familiar" peoplepeople..

Fig.6 PhotocourtesyHondaMotor Co.,Ltd.



7. Controlling ASIMO7. Controlling ASIMO

ASIMOASIMO isis notnot anan autonomousautonomous robotrobot.. ItIt can'tcan't enterenter aaroomroom andand makemake decisionsdecisions onon itsits ownown aboutabout howhow totonavigatenavigate.. ASIMOASIMO eithereither hashas toto bebe programmedprogrammed totododo aa specificspecific job, job, oror itit hashas toto bebe manuallymanuallycontrolledcontrolled byby aa humanhuman..

ASIMO'sASIMO's "backpack""backpack" carriescarries thethe computercomputer (a(a..kk..aa..brain)brain) thatthat controlscontrols ASIMO'sASIMO's movementmovement.. ASIMOASIMOcancan bebe controlledcontrolled byby threethree methodsmethods::

PCPC

WirelessWireless controllercontroller (sort(sort of of likelike aa joystick joystick))

VoiceVoice commandscommands

UsingUsing 802802..1111 wirelesswireless technologytechnology andand aa laptoplaptop orordesktopdesktop computer,computer, wewe cancan controlcontrol..



8. ASIMO's Power8. ASIMO's Power

ASIMOASIMO hashas 2626 servoservo motorsmotors inin itsits bodybody thatthatmovemove itsits arms,arms, hands,hands, legs,legs, feet,feet, ankles,ankles, andand otherothermovingmoving partsparts.. ASIMOASIMO managesmanages aa seriesseries of of servoservomotorsmotors toto controlcontrol eacheach kindkind of of movementmovement..

88..11BatteriesBatteries RequiredRequired

ASIMOASIMO isis poweredpowered byby aa rechargeable,rechargeable, 4040--volt,volt,nickelnickel--metalmetal hydridehydride batterybattery thatthat lastslasts forfor 3030

minutesminutes onon aa singlesingle chargecharge.. TheThe batterybattery isis storedstored ininASIMO'sASIMO's midmid--section,section, wherewhere itsits weightweight alsoalso helpshelpscreatecreate ASIMO'sASIMO's centercenter of of balancebalance.. ASIMO'sASIMO's batterybatterytakestakes fourfour hourshours toto fullyfully chargecharge,, soso aa secondsecond (and(andthird)third) batterybattery isis crucialcrucial if if youyou neededneeded ASIMOASIMO toto

operateoperate forfor veryvery longlong..



9. Conclusion9. Conclusion

ASIMO do jobs that are too dangerous for humans toASIMO do jobs that are too dangerous for humans to

do, like going into hazardous areas, disarming bombs,do, like going into hazardous areas, disarming bombs,or fighting fires. ASIMO can sense falling movementsor fighting fires. ASIMO can sense falling movementsand react to them quickly; It is ironic that robots areand react to them quickly; It is ironic that robots areoften introduced into factories to eliminate hazardousoften introduced into factories to eliminate hazardous

jobs for humans, as well as do something that other jobs for humans, as well as do something that other

robots can't do. there are other some prettyrobots can't do. there are other some prettysophisticated humanoid robots out there that appear tosophisticated humanoid robots out there that appear todo a lot of the same things (except for the smoothdo a lot of the same things (except for the smoothturning). The difference is that most of them are builtturning). The difference is that most of them are builton a much smaller scale and are intended more foron a much smaller scale and are intended more for

entertainment than service.entertainment than service.Right now, ASIMO's greatest competition in termsRight now, ASIMO's greatest competition in terms

of technology seem to be, for the safety and reliabilityof technology seem to be, for the safety and reliabilityaspects the robotic system are very important. Hence,aspects the robotic system are very important. Hence,the development of ASIMO type of robots are verythe development of ASIMO type of robots are very

importantimportant

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