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Development of the Humanoid Robot ASIMO

Article of Honda R&D Technical Review Vol.13 No.1


Honda has been conducting research on biped walking humanoid robots as a challenge toward a new field of mobility.
This paper discusses ASIMO, the Advanced Step in Innovative MObility developed as a result of our efforts in this field. Our target in this development was a robot that could co-exist with humans and that could actually be useful to humans. This target was achieved through the development of a minimally sized robot (height: 1200 mm, weight: 43 kg) that could conform to a real living environment. Also, by further fostering past research we were able to advance the functionality of the robot. In particular, by adding “free walking technology,” which includes predictive control technology, to the existing walking stability control, we were able to achieve a biped robot that can move more smoothly and continuously.


(1) Hirai, K., M. Hirose, Y. Haikawa, T. Takenaka: The Development of Honda Humanoid Robot, IEEE ICRA (1998)
(2) Vukobratovic, M., Y. Stepanenko: “On the Stability of Anthropomorphic Systems,” Mathematical Biosciences, Vol. 15, Oct. (1972)
(3) Vukobratovic M., “The Walking Robot and the Manmade Leg,” trans. by Kato and Yamashita, Nikkan Kogyo Shinbun Ltd. (1975)

Author (organization or company)

Masato HIROSE(Wako Research Center)、Toru TAKENAKA(Wako Research Center)

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