ASIMO/Catalogs

E0 (1986) Measurements DOFs height 101.3 cm Hip joint 1 x 2 weight 16.5 kg Knee joint 1 x 2 Walking Ankle joint 1 x 2 type Static* total 6 speed variation None period 5 — 20 s/step

P2 (1995) Measurements DOFs height 182.0 cm Hip joint (roll axis) 2 x 2 weight 210.0 kg (yaw axis) 1 x 2 Walking Knee joint 1 x 2 type Dynamic** Ankle joint 2 x 2 speed ≤2.0 km/h Shoulder joint 3 x 2 variation limited Elbow joint 1 x 2 period 0.6 — 1.0 s/step Wrist joint 3 x 2 Hand 2 x 2 total 30

P3 (1996) Measurements DOFs height 160.0 cm Hip joint (roll axis) 2 x 2 weight 130.0 kg (yaw axis) 1 x 2 Walking Knee joint 1 x 2 type Dynamic** Ankle joint 2 x 2 speed ≤2.0 km/h Shoulder joint 3 x 2 variation limited Elbow joint 1 x 2 period ~0.7 s/step Wrist joint 3 x 2 Hand 1 x 2 total 28

ASIMO (2000) Measurements DOFs height 120.0 cm Hip joint (roll axis) 2 x 2 weight 52.0 kg (yaw axis) 1 x 2 Walking Knee joint 1 x 2 type Dynamic** Ankle joint 2 x 2 speed ≤1.6 km/h Shoulder joint 3 x 2 variation full Elbow joint 1 x 2 Wrist joint 1 x 2 Hand 1 x 2 Head 2 total 26

The New ASIMO (2005) Measurements DOFs height 130.0 cm Hip joint (roll axis) 2 x 2 weight 54.0 kg (yaw axis) 1 x 2 Walking Knee joint 1 x 2 type Dynamic** Ankle joint 2 x 2 speed ≤2.7 km/h Shoulder joint 3 x 2 variation full Elbow joint 1 x 2 Running Wrist joint 3 x 2 speed ≤6.0 km/h Hand 2 x 2 Head 3 Torso 1 total 34

notes

*The center of gravity is kept within the supporting leg base area. **Static balance is intentionally terminated to maintain increased speed and range of footsteps.