CREATING NEW MOBILITY
In addition to motorcycles, cars and power products, Honda has taken up a new challenge in mobility — the development of a two-legged humanoid robot that can walk.
FUNCTIONALITY IN A HUMAN WORLD
The main concept behind Honda’s robot R&D was to create a form of mobility that allows robots to help people and operate in harmony in our world.
HISTORY OF HONDA’S ROBOT DEVELOPMENT
Research began by envisioning the ideal robot form for use in human society. The robot would need 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 two-legged walking technology could be established, the robot would need to be able to walk on uneven ground and be able to function in a wide range of environments. Although considered extremely difficult at the time, Honda set itself this ambitious goal and developed revolutionary new technology to create a two-legged walking robot.
1986
INITIAL DEVELOPMENT
In studying the fundamental principles of bipedal locomotion, Honda researched and observed all forms of walking, performed numerous experiments, and collected an immense amount of data. This led to the development of Honda’s first experimental (E) robot, E0. E0 walked by putting one leg before the other. However it took nearly five seconds between steps and could only walk slowly in a straight line.
1987-1991
BUILDING HUMAN-LIKE, FAST WALKING ROBOTS
To achieve fast walking, Honda thoroughly researched and analysed human walking. Animal and other forms of walking were also studied and the movement and location of the joints needed for walking were researched as well.
REALISING TWO-LEGGED WALKING
ACHIEVING STABLE WALKING
1993-97
EVOLVING INTO A HUMANOID ROBOT THAT COMBINES AN UPPER BODY WITH LEGS
Studies were carried out to determine what a humanoid robot should look like and be able to do to allow it to function properly in society and operate successfully in a human living environment. As a result of these studies, the P series (Prototype) of humanoid robots were developed. By the P3 prototype the robot was near-human size.
BASIC STRUCTURE
To work in harmony with people and for ease of operation, it was decided that the robot should have two arms.
TARGET POINT MOVEMENT
A camera is used to recognise two markers placed on the floor or other spots. After the robot estimates its present location and direction, it designates a target point. It then calculates the method giving the minimum amount of walking required to move from its present location to the target point. The gyroscope is used for inertial navigation as it moves to the target point, correcting for irregularities caused by slippage, etc.
CLIMBING/DESCENDING STAIRS
A 6-axis force sensor is used to measure steps, so the robot can negotiate even long stairways, continuously without missteps.
PUSHING A CART
The robot can push a cart at a set speed, but if the cart encounters some kind of resistance the robot shortens its stride in response to avoid excessive pushing.
CARRYING OBJECTS
Each arm can carry up to 2 kg while walking.
PASSING THROUGH DOORWAYS
The robot can open and close doors while passing through doorways. As with cart pushing, its steps are regulated in response to the door’s open/closed state.
WORKING VIA REMOTE OPERATION
The robot can tighten bolts and perform other tasks with the master arm while sensing the pressure on the hands.
INTRODUCTION
Compact & Lightweight.Wider Arm Operating Parameters.Easy to Operate.Friendly Design.
The two-legged walking technology developed in the P2 and P3 prototypes laid the foundations for research and development of a new form of technology for actual use. This led to the creation of ASIMO in November 2000. 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.
SMALL, USEFUL SIZE
ASIMO’s size was chosen to allow it to operate freely in the human living space and to make it people-friendly. Its size allows the robot to operate light switches and door knobs, and to work at tables and work benches. Its eyes are located at the level of an adult’s eyes when the adult is seated in a chair.
Honda is of the opinion that a robot height between 120 cm and that of an adult is ideal for operating in the human living space.
INTELLIGENT REAL-TIME FLEXIBLE WALKING i -WALK
i-WALK technology further enhances the potential of robots to function alongside people in their daily living space. Further development of this technology will enable robots to more freely work in concert with human gestures and motions and to avoid obstacles on their own.
The i-WALK technology features a predicted movement control added to the earlier walking control technology. This new two-legged walking technology permits more flexible walking. As a result, ASIMO’s walk is smoother and more natural.
MOVEMENT PREDICTION CONTROL
When a person is walking in a straight line then decides they want to turn a corner, they shift their centre of gravity towards the inside of the turn before commencing the turn. Thanks to i-WALK technology, ASIMO can predict its next movement in real time and shift its centre of gravity in anticipation.
Previous prototypes turned according to combinations of stored walking patterns. ASIMO creates walking patterns in real time and can change foot placement and turning angle at will. This allows ASIMO to walk smoothly in many directions. Furthermore, it is possible to adjust the length of ASIMO’s stride, enabling more natural movement.
DEVELOPMENTS
2000:
2002:
2005:
2007:
2011:
INTELLIGENCE TECHNOLOGY ALLOWING ASIMO TO MOVE INDEPENDENTLY IN RESPONSE TO PEOPLE
In 2002 Honda added intelligence technology to ASIMO that is capable of interpreting the postures and gestures of humans and moving independently in response. ASIMO’s ability to interact with humans was advanced significantly: it can greet approaching people, follow them, move in the direction they indicate, and even recognise their faces and address them by name.
Further, utilising networks such as the Internet, ASIMO can provide information while executing tasks such as reception duties. ASIMO is the world’s first humanoid robot to exhibit such a broad range of intelligent capabilities.
INTEGRATION WITH USER’S NETWORK SYSTEM
ASIMO is able to execute functions appropriately based on a user’s customer data, such as guiding visitors to a predetermined location.
INTERNET CONNECTIVITY
By accessing information via the Internet, ASIMO is able to answer simple questions, such as providing news and weather updates.
ADVANCED COMMUNICATION ABILITY RECOGNITION TECHNOLOGY
RECOGNITION OF MOVING OBJECTS
Using the visual information captured by the cameras mounted in its head, ASIMO can detect the movements of multiple objects, assessing distance and direction.
RECOGNITION OF POSTURES AND GESTURES
Based on visual information, ASIMO can interpret the positioning and movement of a hand, recognising postures and gestures. Thus ASIMO can react not only to voice commands, but also to the natural movements of people.
ENVIRONMENT RECOGNITION
Using the visual information, ASIMO is able to assess its immediate environment, recognising the position of obstacles and avoiding them to prevent collisions.
DISTINGUISHING SOUNDS
ASIMO’s ability to identify the source of sounds has been improved, and it can distinguish between voices and other sounds.
FACE RECOGNITION
ASIMO has the ability to recognise faces, even when ASIMO or a person is moving.
ACTING IN SYNC WITH PEOPLE
This updated version of ASIMO features the ability to pursue tasks in a real-life environment such as an office and an advanced level of physical capabilities. ASIMO achieved an enhanced ability to act in tune with people, such as shaking hands in sync with the person’s motion and walking with a person while holding hands. A new function to carry objects using a tray or cart was also added.
FURTHER ADVANCEMENTS : WALKING FUNCTION
To maintain balance while increasing walking speed and preventing the feet from slipping or from rotating while in mid-air, Honda developed new posture control logic that employs active use of the bending and twisting of the upper body, as well as highly responsive hardware.
This has enabled ASIMO to run at 6 km/h, and also improved the walking speed to 2.7 km/h.
HIGH SPEED RUNNING
There were two challenges in making ASIMO run. One was to obtain an accurate jump function and absorb shock when landing, and the other was to prevent the rotation and slipping as a result of the increased speed.
ACCURATE LEAP AND ABSORPTION OF THE LANDING IMPACT
In order for ASIMO to run, it had to be able to repeat the movements of pushing off the ground, swinging its legs forward, and landing within a very short time cycle and without any delay, absorbing the instantaneous impact shock of landing. ASIMO is equipped with a newly developed high-speed processing circuit, highly-responsive and high-power motor drive unit, and lightweight and highly rigid leg structure.
PREVENTION OF SPINNING AND SLIPPING
Due to reduced pressure between the bottom of the feet and floor, spinning and slipping are more likely to happen just before the foot leaves the floor and just after the foot lands on the floor. Combining Honda’s independently developed theory of bipedal walking control with proactive bending and twisting of the torso, ASIMO achieved stable running while preventing slipping. When a human runs, the step cycle is 0.2 to 0.4 seconds depending on one’s speed, and the leap time, when both feet are off the ground, varies between 0.05 to 0.1 seconds. The step cycle of ASIMO is 0.32 seconds with a leap time of 0.08 seconds, which are equivalent to that of a person jogging.
COORDINATION OF THE ENTIRE BODY
The development of highly responsive hardware enables ASIMO to freely change speed while in motion. This allows ASIMO to conduct flexible and rapid movements using the entire body while maintaining its overall body balance.
Speed: 6 km/h
Stride: 525 mm
Leap distance:* 50 mm
Leap time: 0.08 sec
* Distance ASIMO moves forward while both feet are off the ground
HIGH SPEED RUNNING IN A CIRUCULAR PATTERN
Running in a circular pattern at high speed was achieved by tilting the centre of gravity of ASIMO’s body inside of the circle to maintain balance with the amount of centrifugal force experienced. ASIMO changes its speed according to the radius of the circle and controls its tilted posture.
AUTONOMOUS CONTINUOUS MOVEMENT
ASIMO can manoeuvre toward its destination without stopping, by comparing any deviation between the input map information and the information obtained about the surrounding area from its floor surface sensor.
VISUAL SENSOR
Reads the contour characteristics taken from continuous images of the eye camera (camera with high dynamic range) to distinguish a person, and evaluates the reliability from the contextual data to identify the object accurately as a person.
ULTRASONIC SENSORS
The sonic wave sensors detect obstacles three metres ahead, including glass that the visual sensor cannot detect.
GROUND SENSORS
A sensing system consisting of a laser sensor and an infrared sensor. The laser sensor detects the ground surface and any obstacles two metres from its feet, while the infrared sensor identifies the floor makings by adjusting the shutter speed according to brightness. The differences are corrected according to the robot’s map information.
IDENTIFYING OBSTACLES
ASIMO selectively uses its multiple sensors based on its own judgment, and adjusts the sensitivity of the sensors according to the surrounding circumstances in order to consistently identify obstacles.
AUTOMATIC DETOUR FUNCTION
When its ground sensor or the visual sensor on its head identifies an obstacle, ASIMO selects a different route using its own judgment.
MOVEMENT IN CONCERT WITH HUMAN MOTION
Prediction movement control. From the characteristics of images obtained from its visual sensor on its head, ASIMO extracts multiple moving objects, and identifies the distance and direction to those objects and the likelihood of those objects being people. The world’s first humanoid robot to exhibit such a broad range of intelligent capabilities.
RECOGNISING PEOPLE
Based on the information on the IC Communication Card, ASIMO establishes the position of the person and adjusts its own position to face them.
SHAKING HANDS IN SYNC WITH THE PERSON’S MOTION
By detecting people’s movements through visual sensors on its head and force (kinesthetic) sensors on its wrists, ASIMO can shake hands in concert with a person’s movement. During hand shaking, ASIMO steps backward when the hand is pushed and steps forward when the hand is pulled. ASIMO moves in concert with a person by taking steps in the direction of the force.
WALKING HAND-IN-HAND
With its force sensors on the wrists, ASIMO detects the strength and direction of the force applied to its hand and adjusts the walking speed and direction. ASIMO takes steps in any direction according to the strength and direction of the force applied to its hand; therefore a person can walk with ASIMO in any direction.
IC COMMUNICATION CARD
In collaboration with Honda’s unique IC Communication card, an IC tag with optical communication functions, ASIMO autonomously selects and executes its tasks.
Attending to a person while recognising the person. Based on the information in the IC Communication card, ASIMO recognises the individual and attends to the person accordingly.
Attending to a person while measuring the distance to the person. Calculating the relative distance between ASIMO and the person being attended to, ASIMO adjusts its walking speed. If the distance becomes too great, ASIMO waits until the person comes closer.
Attending to a person while specifying the position of the person. Based on the information on the IC Communication Card, ASIMO specifies the position of the person and adjusts its own position to face the person.
Greeting people as they pass by. When passing a person who carries an IC communication card, ASIMO identifies the card information and makes an appropriate greeting for the person.
Optical communication area (all directions, 8 beams). ASIMO can detect the direction of the person holding the IC communication card.
Radio wave communication area. According to the information from the IC communication card, ASIMO can know who is holding the card.
ASIMO’S CAPABILITIES WHILST USING TOOLS
CONNECTING TWO OR MORE ASIMOS TO PROVIDE SERVICE IN COLLABORATION
Progress in intelligence technology has made it possible for two or more ASIMOs to collaborate to complete a task. Intelligence technology has also been developed to enable such movements for ASIMO as stepping aside to make room for an oncoming person or simply passing by the person, according to the person’s movement. Another new function enables ASIMO to take itself to the nearest charging station when low on power.
WORKING IN COLLABORATION
Networking two or more ASIMOs enables them to work in collaboration. Each ASIMO will share information on its own current state of work and tasks will be allotted to each ASIMO according to the most efficient work allocation. More specifically, the current position of each ASIMO and the distance to the location for carrying out a specific task are calculated, then taking the remaining battery power of each robot into account and using the most time-efficient overall allocation of work, each ASIMO does its work independently.
PASSING OR AVOIDING A PERSON
ASIMO calculates an oncoming person’s direction of travel and speed from the images of its eye camera. Anticipating the person’s movements, ASIMO creates its own optimum course so that it will not be in the person’s way, and passes by the person. If there is not enough space to pass an oncoming person, ASIMO will step aside to make room for the person.
SELF-CHARGING FUNCTION
A new charging station was developed to allow ASIMO to recharge itself on its own. When remaining battery power falls below the specified level, ASIMO automatically identifies the nearest vacant charging station and recharges itself while standing.
The All-New ASIMO has now advanced from an “automatic machine” to an “autonomous machine” with the decision-making capability to determine its behaviour in concert with its surroundings such as movements of people.
WORLD’S FIRST* AUTONOMOUS BEHAVIOUR CONTROL TECHNOLOGY
At the beginning of development, the following three factors were identified as necessary for a robot to perform as an autonomous machine, and the technologies required to realise these capabilities were developed:
With these capabilities, the All-New ASIMO takes another step closer to practical use in an environment where it can function harmoniously with people.
* per Honda internal research as of Nov. 8, 2011
ADVANCEMENT OF INTELLIGENCE CAPABILITY
Honda has developed a new system that is a fundamental technology for advanced intelligence, and which comprehensively evaluates inputs from multiple sensors that are equivalent to the visual, auditory, and tactile senses of a human being, then assesses the situation of the surrounding environment and determines the corresponding behaviour of the robot.
ABLE TO RESPOND TO THE MOVEMENT OF PEOPLE AND TO ITS ENVIRONMENT
ASIMO can now respond to its environment including the movement of people. For instance, ASIMO will stop its current action and change its behaviour to accommodate the intention of another party.
QUICKLY DETERMINES AN ALTERNATE PATH TO AVOID A COLLISION
ASIMO is now capable of predicting the direction a person will walk within the next few seconds based on information from pre-set space sensors and then quickly determine to take an alternate path to avoid a collision if the predicted locations of the person and the ASIMO intersect.
DISTINGUISHING VOICES OF MULTIPLE PEOPLE SPEAKING AT THE SAME TIME
Coordination between visual and auditory sensors enables ASIMO to simultaneously recognise faces and voices, allowing ASIMO to distinguish the voices of multiple people speaking simultaneously, which is difficult even for a human being to accomplish.
PERFORMING TASKS WITH DEXTERITY
Honda has developed a highly functional, compact multi-fingered hand, with a tactile sensor on the palm and a force sensor embedded in each finger, which acts to control each finger independently.
Combined with object recognition technology based on visual and tactile senses, this multi-fingered hand enables the All-New ASIMO to perform tasks with dexterity, such as picking up a water bottle and twisting off its cap, or holding a soft paper cup to pour liquid into without squashing the cup. All-New ASIMO has 13 degrees of freedom in its highly advanced, multi-fingered hands.
ADVANCEMENT OF PHYSICAL CAPABILITY
The combination of strengthened legs, an expanded range of leg movement and a newly developed control technology enables ASIMO to change landing position in the middle of a motion.
ADAPTING TO CHANGING EXTERNAL SITUATIONS
ASIMO can now walk, run, run backward, or hop on one or two legs with continuous movement. This ability for such agile motion has made ASIMO more capable of adapting to changing external situations so that it can walk on an uneven surface while maintaining a stable posture, for example.
COMMUNICATION IN SIGN LANGUAGE
ASIMO is now capable of making sign language expressions that require complex movement of fingers.
SPECIFICATIONS
GENERAL
Size: 130 x 45 x 34 cm | Weight: 48 kg
PERFORMANCE
Maximum running speed: 9.0 km/h
Operating time: 40 minutes while running*
DEGREES OF FREEDOM
Head: 3 | Arms: 7 × 2 | Hands: 13 x 2
Hip: 2 | Legs: 6 x 2
* Longer operating time available by an independent self-charging function
ASIMO made its European debut in front of the science community at a symposium held at the Technical University of Darmstadt in June 2003. The theme of the event was “From High Tech to Intelligence - The Challenge of Humanoid Robots”. Since then ASIMO has been used for three main applications in Europe:
ASIMO is demonstrated regularly at Honda-related events to support the technologically advanced image of the brand and provide the European public with exposure to robotics.
PHILOSOPHY OF HONDA ROBOTICS
Honda Robotics is a collective name that represents all of Honda’s robotics technologies and product applications created through its research and development of humanoid robots. Studying human beings to understand people and learn from people is the root of Honda’s manufacturing. Since the establishment of the company, Honda has continued to take on new challenges in the effort to create new products and advance technologies with the spirit of utilising technology to help people.
Honda Robotics technologies are examples of products resulting from the application of bipedal technology and balance control technology amassed through the research and development of ASIMO.
While continuing the research and development of humanoid robots, Honda also focuses on applying robotics technologies to mass-produced products and putting product applications into practical use.
WHAT DRIVES HONDA TO DESIGN ROBOTS?
Satoshi Shigemi
Supervisor of robot development
at Honda and Chief Engineer for
All-New ASIMO
“The robotics research program at Honda was launched with the basic aim of designing robots to perform useful tasks that make our lives easier. As a provider of mobility solutions, Honda is dedicated to improving our understanding of human functioning and behaviour. Given that we supply machinery that people use, it is important that we have a proper understanding of how people think and operate. This is the fundamental principle that underpins the robotics development programme.
ASIMO was originally conceived as a communications robot that operates in conjunction with people and this remains our research focus for the future. The March 2011 earthquake in Japan illustrated the need for working robots capable of performing tasks in dangerous places on behalf of people. We are now even more committed to working towards the ultimate objective of producing robots that are genuinely useful to society, and naturally this includes ASIMO.”
Applications of robotics technology. The walking and balance control systems developed for ASIMO have been adapted to produce a variety of innovative solutions such as Walking Assist, designed for people with restricted strength in the legs, and the UNI-CUB β personal mobility device, which affords freedom of movement in all directions.
The robot development program focuses not only on what the robots of the future might do, but how robots can be used right now to meet the needs and expectations of wider society, a perfect example of this is the remotely controlled survey robot that Honda developed (jointly with the National Institute of Advanced Industrial Science and Technology (AIST) in Japan) to conduct on-site surveys on the first floor of a nuclear reactor building at Fukushima Daiichi Nuclear Power Station.
Honda Robotics is committed to the development of technology and products that satisfy customer expectations. Our mission is to imagine a world in which robots work side by side with people, while at the same time exploring potential applications of robotics technology in the present day.”
After the 2011 earthquake in Japan, Honda began development of a Humanoid Disaster-relief Robot for use at nuclear power stations and industrial sites.
In 2013, a remotely controlled survey robot was ready to conduct on-site surveys on the first floor of a nuclear reactor building at Fukushima Daiichi Nuclear Power Station of Tokyo Electric Power Company, Inc. (TEPCO) and help discern structures in high and/or narrow areas. This survey robot was jointly-developed with the National Institute of Advanced Industrial Science and Technology (AIST) in Japan. It began working inside the reactor building in June 2013. Honda began to receive queries as to whether ASIMO could be used at Fukushima and many of the ASIMO development team also wondered the same thing.
After discussions with Yoshiharu Yamamoto, President of Honda R&D, to decide the feasibility of adapting ASIMO technology for this purpose, the project was approved. In developing the survey-performing robot arm, Honda applied the following technologies which were developed originally for ASIMO:
With these technologies, the newly developed robot arm can easily approach hard-to-see objects that are behind other objects in a structurally-complex environment in the reactor building by applying simultaneous control on multiple joints. When approaching the objects, the robot uses a zoom camera, laser range finder and dosimeter located at the tip of the arm to confirm detailed images, collect 3D data and identify the source of radiation. Furthermore, Honda and AIST jointly developed an intuitive remote-control interface. Using this interface, the operator can control the robot from a remote location such as the Main Anti-earthquake Building and allow the robot to manoeuvre in dark and narrow places in the reactor building.
Size (L x W): 1.8 m x 0.8 m
Height: 1.8 m (7m fully extended)
Max. travel speed: 2 km/h
The UNI-CUB β personal mobility device is compact in size and features Honda’s proprietary balance control technology and the world’s first omni-directional driving wheel system (Honda Omni Traction Drive System), which makes it possible to enjoy the same freedom to move forward, backward, laterally and diagonally that people have when walking. Similar to the “U” in “U3-X,” “UNI” comes from the “uni” in “unique,” “universal” and “unicycle.” “Cub” comes from Honda’s well-known Cub series of motorcycles, signifying that UNI-CUB β is a convenient tool that anyone can use. UNI-CUB β is designed to be used among people moving around in airports, shopping centres, libraries, museums and other indoor facilities.
MANOEUVRABILITY
ENHANCED BALANCE CONTROL AND STABILITY
EASE OF CONTROL
Honda omni traction drive system. The front wheel features the honda omni traction drive system. The rear wheel moves laterally to facilitate turning. This layout enables the different rotational speeds of the front and rear wheel treads during lateral movements, which means the UNI-CUB β can move forwards and backwards, side-to-side and diagonally and also turn in place.
SPECIFICATIONS
Size (L x W x H): 520 x 345 x 745 mm
Seat height adjustment range: 745 – 825 mm
Battery type: Lithium-ion battery
Maximum speed: 6 km/h
Range: 6 km (equivalent to about 10,000 paces)
2009: U3-X : Designed for harmony with people
2011: UNI-CUB PROTOTYPE - Enhanced ease of control and mobility
2013: UNI-CUB β
BODYWEIGHT SUPPORT ASSIST
Honda began research and development of the Walking Assist Devices in 1999. As with ASIMO, the Walking Assist Devices adopt cooperative control technology that was developed based on Honda’s cumulative study of human walking. The control computer activates motors based on information obtained from hip angle sensors while walking to improve the symmetry of the timing of each leg lifting from the ground and extending forward and backward, and to promote a longer stride for easier walking.
The compact design of the device was achieved through the adoption of thin motors and a control system developed by Honda, as well as a simple design with adjustable belts that enables the device to be worn by people of varied body sizes. From the early stages of the research and development of the Walking Assist Devices, Honda has worked with research institutions and other organisations in Japan. Through this process, Honda has received encouraging feedback from patients who underwent walking training, physical therapists, medical doctors, and researchers, all of whom acknowledge a certain effectiveness and compatibility of the device in the rehabilitation process.
Weight: 2.72 kg (including battery)
Operating time per charge: > 60 min
Battery type: Lithium-ion battery
Battery capacity: 22.2 V-1 Ah
STRIDE MANAGEMENT ASSIST
This device adjusts the user’s stride and the rhythm of walking by assisting the user’s ability to swing legs forward and backward.
When people experience a decline in walking capabilities and have a limited range of activities as a result, the Stride Management Assist device can enable the user to walk easier, faster and further.
APPLICATIONS
Size: S: 310 mm | M: 340 mm | L: 380 mm
Weight: 2.4 kg (size M)
Drive method: Brushless DC motor
Battery type: Lithium-ion rechargeable
Battery capacity: 22.2 V-1 Ah
Operation time: > 1 h (at 4.5 km/h pace)
FOR MORE INFORMATION:
world.honda.com/HondaRobotics
VIKKI HOOD
Corporate Communications Manager
Honda Motor Europe Ltd.
Tel: +44 (0)1753590062
Email: vikki.hood@honda-eu.com