ADVANCED STEP IN INNOVATIVE MOBILITY (ASIMO)

A HUMONOID ROBO

M. Divya Sushma P.Sravya Polisetty

3/4 E.C.E 3/4 E.C.E
VIT, Bhimavaram VIT, Bhimavaram
divyamudragada@gmail.com sravya.polisetty@gmail.com
Mobile: 9177678925 Mobile: 9177654123
Abstract:
Want a robot to cook your
dinner, do your homework,
clean your house, or get
your groceries? Robots
already do a lot of the jobs
that we humans don't want
to do, can't do, or simply
can't do as well as our
robotic counterparts. In
factories around the world,
disembodied robot arms
assemble cars, delicately
place candies into their
boxes, and do all sorts of
tedious jobs. There are
even a handful of robots
on the market whose sole
job is to vacuum the floor.
Many of us grew up
watching robots on TV and
in the movies: There was
Rosie, the Jetsons' robot
housekeeper; Data, the
android crewmember on
Star Trek TNG; and of
course, C3PO from Star
Wars. The robots being
created today aren't quite
in the realm of Data or
C3PO, but there have been
some amazing advances in
their technology. Honda
engineers have been busy
creating the ASIMO robot
for more than 17 years. In
this article, we'll find out
what makes ASIMO the
most advanced
INTRODUCTION:
A-S-I-M-O:
Advanced Step in
Innovative Mobility, was
developed by the Honda
Motor Company and is the
most advanced humanoid
robot in the world.
According to the ASIMO
Web site, ASIMO is the
only humanoid robot in the
world that can walk
independently and climb
stairs. While there are
several other humanoid
robots that can walk, none
have the smooth, realistic
gait that ASIMO has.
In addition to
ASIMO's ability to walk
like we do, it can also
understand some spoken
commands (currently only
in Japanese) and recognize
faces. ASIMO has arms
and hands so it can do
things like turn on light
switches, open doors, carry
objects, and push carts.
Humanoid:
Humanoid A humanoid
robot is a robot with its
overall appearance based
on that of the human body
A humanoid is an
autonomous robot because
it can adapt to changes in
its enviroment or itself to
continue its goal.This is
the main difference
between a humanoid and
other robots
MOTO OF HONDA’s:
 To create a robot that
helps the people.
 To help the physically
challenged people or
children in guiding
them.
ASIMO is 4 feet (1.2
meters nearly) high, which
is just the right height to
look eye to eye with
someone seated in a chair.
This allows ASIMO to do
the jobs it was created to
do without being too big
and menacing. Often
referred to as looking like
a "kid wearing a
spacesuit," ASIMO's
friendly appearance and
nonthreatening size work
well for the purposes
Honda had in creating
them.
ASIMO'S MOTION:
Reasearchers began the
study of ASIMO
By studying about the
movement of legs of
insects,mamals and
mountain climbers
particularly at the joints
 joints, just as our soft
tissues do when we walk.
ASIMO has hip, knee, and
foot joints.

JUST LIKE HUMAN

For example, the
fact that we shift our
weight using our bodies
and especially our arms in
order to balance was very
important in getting
ASIMO's walking
mechanism right. Robots have joints that
The fact that we researchers refer to as
have toes that help with "degrees of freedom." A
our balance was also taken single degree of freedom
into consideration.ASIMO allows movement either
actually has soft right and left or up and
projections on its feet that down. ASIMO has 26
play a similar role to the degrees of freedom spread
one our toes play when we over different points of its
walk. This soft material body in order to allow it to
also absorbs impact on the
move freely. There are two
degrees of freedom in
ASIMO's neck, six on each
arm and six on each leg.
The number of degrees of
freedom necessary for
ASIMO's legs was decided
by measuring human joint
movement while walking
on flat ground and on
stairs. ASIMO also has a
speed sensor and a
gyroscope sensor mounted
on its body. They perform
the tasks of:
• sensing the position of
ASIMO's body and the
speed at which it is
moving
• relaying adjustments for
balance to the central
computer
These sensors work
similarly to our inner ears
in the way they maintain
balance and orientation. To
accomplish the job our
muscles and skin do in
sensing muscle power,
pressure and joint angles,
ASIMO has both joint-
angle sensors and a six-
axis force sensor
WALKS LIKE A
HUMAN
Unless you know a lot
about robotics, you may
not fully grasp the
incredible milestone it is
that ASIMO walks as we
do. The most significant
part of ASIMO's walk is
the turning
capabilities. Rather than
having to stop and shuffle,
stop and shuffle, and stop
and shuffle into a new
direction, ASIMO leans
and smoothly turns just
like a human. ASIMO can
also self-adjust its steps in
case it stumbles, is pushed,
or otherwise encounters
something that alters
normal walking. In order
to accomplish this,
ASIMO's engineers had to
find a way to work with
the inertial forces created
when walking. For
example, the earth's
gravity creates a force, as
does the speed at which
you walk. Those two
forces are called the "total
inertial force." There is
also the force created when
your foot connects with the
ground, called the "ground
reaction force." These
forces have to balance out,
and posture has to work to
make it happen. This is
called the "zero moment
point" (ZMP).
To control ASIMO's SMOOTH MOVES:
posture, engineers worked
on three areas of control:
• Floor reaction control
means that the
cisoles of the feet absorb
floor unevenness while
still maintaining a firm
stance.
• Target ZMP control
means that when ASIMO
can't stand firmly and its
body begins to fall
forward, it maintains
position by moving its
upper body in the direction
opposite the impending
fall. At the same time, it
speeds up its walking to
quickly counterbalance the
fall.
Foot-planting location
control kicks in when the
target ZMP control has
been activated .

ASIMO can sense falling

movements and react to
them quickly; but
ASIMO's
engineers.wanted more.
They wanted the robot to CONTROLLING
have a smooth gait as well ASIMO
as do something thatother
robots can't do -- turn ASIMO is not an
without stopping. When autonomous robot. It can't
we walk around corners, enter a room and make
we shift our center of decisions on its own about
gravity into the turn. how to navigate. ASIMO
ASIMO uses a technology either has to be
called "predictive programmed to do a
movement control," also specific job in a specific
called Honda's Intelligent area that has markers that
Walking Technology, to it understands, or it has to
accomplish that same be manually controlled by
thing. ASIMO predicts a human. ASIMO's
how much it should shift "backpack" carries the
its center of gravity to the computer (a.k.a. brain) that
inside of the turn and how controls ASIMO's
long that shift should be movement. ASIMO can be
maintained. Because this controlled by three
technology works in real methods:
time, ASIMO can do this
without stopping between • PC
steps, which other robots • Wireless controller (sort
must do. Essentially, with of like a joystick)
every step ASIMO takes, it • Voice commands
has to determine its inertia
and then predict how its Using 802.11 wireless
weight needs to be shifted technology and a laptop or
for the next step in order to desktop computer, you can
walk and turn smoothly. It control ASIMO as well as
adjusts any of the see what ASIMO sees via
following factors in order its camera eyes. ASIMO
to maintain the right can also use its PC
position: connection to access the
Internet and retrieve
• the length of its steps information for you, such
• its body position as weather reports and
• its speed news. The wireless
• the direction in which it joystick controller operates
is stepping ASIMO's movements the
Now let's talk about same way you would
another one of ASIMO's operate a remote-control
talents: recognizing car. You can make
images. ASIMO go forward,
backward, sideways,
diagonally, turn in place,
or walk around a corner.
Making ASIMO move by
remote control may not
seem that advanced, but
ASIMO does have the
ability to self-adjust its
steps. If you have it walk
forward, and it encounters
a slope or some sort of
obstacle, ASIMO
automatically adjusts its
steps to accommodate the
terrain. There are also
preprogrammed gestures
that can be selected using
buttons on the controller.
These include things like
waving, grasping, and
responding in other ways.
ASIMO's ability to
understand voice
commands is the newest
addition for control. Its
database includes about 30
different spoken
commands that activate
certain movements in
ASIMO's repertoire.
In addition to the
voice commands for
controlling ASIMO's
movements, there are also
spoken commands to
which ASIMO can
respond verbally. This is
the feature that has made it
possible for ASIMO to
work as a receptionist,
greeting visitors and
answering questions.
robotics field, ASIMO is
powered by servo
motors.These are small but
powerful motors with a
rotating shaft that moves
limbs or surfaces to a
specific angle as directed
by a controller. Once the
motor has turned to the
appropriate angle, it shuts
off until it is instructed to
turn again. For example, a
servo may control the
angle of a robot's arm
joint, keeping it at the right
angle until it needs to
move, and then
Controlling that move.
Servos use a position-
sensing device (also called
a digital decoder) to ensure
that the shaft of the motor
is in the right position.
They usually use power
proportional to the
mechanical load they are
carrying. A lightly loaded
servo, for example, doesn’t
use much energy. ASIMO
has
HONDA’s 3-D C.P.U
TO POWER SUPER
ASIMO

ASIMO'SPOWER
Like most other
technologies in the 26 servo motors in its body
that move its arms, hands,
legs, feet, ankles, and other
moving parts. ASIMO
manages a series of servo
motors to control each
kind of movement.
BATTERIES
REQUIRED
ASIMO is powered by a
rechargeable, 40-volt,
nickel-metal hydride
battery that lasts for 30
minutes on a single charge.
The battery is stored in
ASIMO's mid-section,
where its weight also helps
create ASIMO's center of
balance. ASIMO's battery
takes four hours to fully
charge, so a second (and
third) battery is crucial if
you needed ASIMO to
operate for very long.
ASIMO'S PEERS
In addition to ASIMO,
there are some other pretty
sophisticated humanoid
robots out there that appear
to do a lot of the same
things (except for the
smooth turning). The
difference is that most of
them are built on a much
smaller scale and are
intended more for
entertainment than service.
Right now, ASIMO's
greatest competition in
terms of technology seem
to be:
• SONY's QRIO robot
• Fujitsu's HOAP-1 robot
• Dr. Robot
There are also two
different robots used in
hospitals around the world
that navigate hallways and
take elevators to deliver
patient records, x-rays,
medicines, and other
things all over the hospital.
They travel on wheels and
are programmed to
identify and follow
markers and bar codes
placed on the walls.
ASIMO'S LIFE STORY
Honda began development
of its humanoid helper
robot in 1986. Honda
engineers knew the robot
had to be able to easily
navigate around a house or
building, and that meant
the walking technology
had to be perfect.
Therefore, their first
attempts were basically
boxes
with legs. Once the
walking mechanism was
mostly developed, arms,
hands and finally ahead
were added.
DIFFERENT ASIMO’s
(upto now)
 movements of multiple
objects,. This icludes to
follow a person, or greet a
person when he or she
approaches.

Dynamic walk of an
asimo

Postures and gestures

ASIMO interprets
The new features of the positioning and
Recognition movement of a
technology: hand, recognizing
postures and
With 2000's ASIMO gestures. Because
model Honda added of this ASIMO can
features that enable react to and be
ASIMO to interact better directed by not
with humans. These only voice
features fall under 5 commands, but
categories: also to the natural
movements of
Moving objects human beings. This
enables it to, for
Using the visual example, recognize
information captured by when a handshake
the camera mounted in its is offered or when
head, ASIMO detects the a person waves and
 respond shake of the head or a
accordingly. It can verbal answer.
also recognize
movement Facial recognition
directions such as
pointing. ASIMO can
recognize faces, even
when ASIMO or the
Environment human being is moving. It
can individually recognize
ASIMO recognizes approximately 10 different
the objects and faces. Once they are
terrain of its registered it can address
environment and them by name.
act in a way that is
safe for both itself
and nearby
humans. For Network integration
example,
recognizing Utilizing networks
potential hazards ASIMO can provide
such as stairs, and information and function
by stopping and better for various
starting to avoid commercial applications
hitting humans or such as reception. Its
other moving abilities fall under 2
objects. categories.

Integration with user's

Distinguishing sounds network system

ASIMO's ability to By connecting with

identify the source of
sounds has been improved,
and it can distinguish
between voices and other
sounds. It responds to its
name, faces people when
spoken to, and recognizes
sudden, unusual sounds
such as that of a falling
object or a collision, and
faces in that direction. It
can respond to questions,
either by a brief nod, a
a user's network ASIMO
can offer many useful
functions such as greeting
visitors and informing
personnel of the visitor's
arrival by transmitting
messages and pictures of
the visitor's face and guide
visitors to a predetermined
location.
Internet connectivity
 By accessing
information via the
Internet, ASIMO
can, for example,
become a provider
of news and
weather updates.

Charging Asimo :
Charging Asimo ASIMO
is powered by a
rechargeable, 51.8 volt
lithium ion (Li-ION)
battery that lasts for one
hour on a single charge.
The battery weighs about
13 pounds. ASIMO's is
stored in ASIMO's
backpack and battery takes
three hours to fully charge.
Users can charge the
battery onboard ASIMO Pros and cons of Asimo :
through a power Pros and cons of Asimo
connection or remove the Pros It can do tedious
backpack to charge chores that take up a lot of
separately Asimo also has time Help the elderly and
the ability to automatically disabled Can perform
find its charging station certain tasks that are
and charge itself dangerous to humans
Productivity can increase
Cons People will fear that
ASIMO might take over
their job Less personal
communication Fear that
robots will take over
human activity very
expensive

Application:
By seeing all the above
detais about we came to
know that asimo is applies
every where in our human
life.
Conclusion :
In my opinion ASIMO is
an amazing technological
advancement This will
allow people allocate their
time in a more productive
manner ASIMO will
provide a number of
positive contributions to
human beings. Life in the
future will probably see
these wonderful machines
doing chores in our
house….maybe???
Conclusion

REFERENCES:

1.http://asimo.honda.com/a
simo_specifications.html

2.http://www.eetimes.com
/story/OEG20001122S004
8

3.http://world.honda.c
om/ASIMO/history/asimo.
html

4.http://asimo.honda.c
om/asimo_specifications.h
tml