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ASIMO TECHNOLOGY CIRCUIT

Creating New Mobility

Following in the steps of Honda 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.

Aiming for Function in the Human Living Space

Honda wants to create a partner for people, a new kind of robot that functions in society.

The Concepts behind Honda’s Robot R&D

The main concept behind Honda’s robot R&D was to create a more viable mobility that allows
robots to help and live in harmony with people. Research began by envisioning the ideal robot form
for use in human society.
The robot would need to be able to maneuver 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.

History Robot Development Process

 E0 (1986) – Honda’s humanoids are shown in the chronological order of development since
1986.
 E1 (1987 – 1991) – Early prototype of the later models walked at static pace of 0.25 km/h with
a certain distinction of movement between the two legs.
 E2 (1987 – 1991) – First dynamic movement at 1.2km/h mimicking the human walk.
 E3 (1987 – 1991) – Thigh-like legs walked at the normal human speed of 3km/h.
 E4 (1991 – 1993) – Knee length was increased to 40 cm to simulate the quick human step
speed of 4.7 km/h.
 E5 (1991 – 1993) – First autonomous locomotion model had a large head cover.
 E6 (1991 – 1993) – Autonomous control of balancing when going up and down the stairs or
slopes or stepping over an obstacle.
 P1 (1993 – 1993) – First prototype of a man-like model with upper limbs and the body.
 P2 (1993 -1993) – First humanoid stunned the public with realistic movement.
 P3 (1993 -1993) – Evolution in size and weight marked this fun humanoid.
 ASIMO (2000 - ) – Further evolution in size and weight and advanced walking technology.
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A humanoid robot created by Honda. Standing at 130 centimeters and weighing 54 kilograms,
the robot resembles a small astronaut wearing a backpack and can walk on two feet in a manner
resembling human locomotion at up to 6 km/h (3.7 mph). ASIMO was created at Honda’s Research
& Development Wako Fundamental Technical Research Center in Japan. It is the current model in a
line of eleven that began in 1986 with E0.

Officially, the name is an acronym for “Advanced Step in Innovative Mobility”.

Contrary to popular belief, Honda’s official statements indicate that the robot’s name is not homage to
science fiction writer and inventor of the Three Laws of Robotics, Isaac Asimov. In Japanese, the
name is pronounced ashimo and, not coincidentally, means “legs also”.

As of 2002, there were 20 ASIMO units in existence. Each one costs $1 million to
manufacture, and some units are available to be hired out for $150,000 per month.

Building ASIMO was an incredible challenge for Honda engineers. In addition to powerful
computers and sophisticated software, ASIMO represents years of research in many scientific fields
like Mathematics, Physics – the study of motion – and Anatomy – the study of the human body
structure – just to name a few.

Honda engineers created ASIMO with 26 Degrees of Freedom that help it walk and perform
tasks much like a human. One Degree of Freedom is the ability to move right and left or up and
down. These degrees of freedom act much like human joints for optimum movement and flexibility.
ASIMO has two Degrees of Freedom on its neck, six on each arm and six on each leg. Lightweight
materials, like a magnesium alloy structure, combined with powerful computers in its backpack and
26 servomotors throughout its body help ASIMO walk and move smoothly with ease.
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ASIMO is designed to operate in the real world, where people need to reach for things, pick
things up, navigate along floors, sidewalks and even climb stairs. ASIMO’s abilities to walk smoothly
climb stairs and recognize people’s voices and faces will enable ASIMO to easily function in our world
and truly assist humans.

Recognition Technology

With 2000’s ASIMO model Honda added many features, labeled “Intelligence Technology”,
that enable ASIMO to interact better with humans. These features fall under 5 categories:
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1. Recognition of moving objects

Using the visual information captured by the camera mounted in its head, ASIMO can
detect the movements of multiple objects, assessing distance and direction. Common
applications this feature would serve include: the ability to follow the movements of people with
its camera, to follow a person, or greet a person when he or she approaches.

2. Recognition of postures and gestures

ASIMO can also interpret the positioning and movement of a hand, recognizing
postures and gestures. Because of this ASIMO can react to and be directed by not only voice
commands, but also to the natural movements of human beings. This enables it to, for
example, recognize when a handshake is offered or when a person waves and respond
accordingly. It can also recognize movement’s directions such as pointing.

3. Environment Recognition
ASIMO can recognize the objects and terrain of its environment and act in a way that is
safe for both itself and nearby humans. For example, recognizing potential hazards such as
stairs, and by stopping and starting to avoid hitting humans or other moving objects.
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4. Distinguishing sounds
ASIMO’s ability to identify the source of sounds has been improved, and it can
distinguish between voices and other sounds. It can respond to its name, face people when
being spoken to, and recognize sudden, unusual sounds such as that of a falling object or a
collision, and face in that direction.

5. Facial recognition
ASIMO has the ability to recognize faces, even when ASIMO or the human being is
moving. It can individually recognize approximately 10 different faces. Once they are
registered it can address them by name.

Network Integration

Utilizing networks such as the Internet, ASIMO can provide information and function better for
various commercial applications, such as reception. His abilities fall under 2 categories:

1. Integration with user’s network system

By connecting with a user’s network ASIMO can offer many useful functions such as
greeting a visitor 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.

2. Internet connectivity
By accessing information via the Internet, ASIMO can, for example, become a provider
of news and weather updates.
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Electronic Nose (E-Nose)

An “electronic or artificial nose” is an instrument, which comprises a sampling system, an

array of chemical gas sensors with differing selectivity, and a computer with an appropriate pattern-
classification algorithm, capable of qualitative and/or quantitative analysis of simple or complex
gases, vapors, or odors. An “electronic tongue” uses an array of liquid sensors. The artificial
“chemical senses include taste and olfaction.

The term, “electronic nose or E-nose” has come into common usage as a generic term for an
array of chemical gas sensors incorporated into an artificial olfaction device, after its introduction in
the title of a landmark conference on this subject in Iceland in 1991. The human nose uses the lungs
to bring the odor to the epithelium layer; the electronic nose has a pump. The human nose has
mucous, hairs, and membranes to act as filters and concentrators, while the E-nose has an inlet
sampling system that provides sample filtration and conditioning to protect the sensors and enhance
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selectivity. The human epithelium contains the olfactory epithelium, which contains millions of
sensing cells, selected from 100-200 different genotypes that interact with the odorous molecules in
unique ways. The E-nose has a variety of sensors that interact differently with the sample. The
human receptors convert the chemical responses to electronic nerve impulses. The unique patterns
of nerve impulses are propagated by neurons through a complex network before reaching the higher
brain for interpretation. Similarly, the chemical sensors in the E-nose react with the sample and
produce electrical signals. A computer reads the unique pattern of signals, and interprets them with
some form of intelligent pattern classification algorithm. From these similarities we can easily
understand the nomenclature. However, there are still fundamental differences in both the
instrumentation and the software. The Bio-nose can perform tasks still out of reach for the E-nose,
but the reverse is also true. It is interesting to note that biological noses are all electrochemical noses
in the sense that they use nerve voltage pulses or potentiometry, and ion currents or amperometry, to
transmit signals in the body.

What makes the E-nose better?

What advantages does it already possess? Our human nose is elegant, sensitive, and self-
repairing, but the E-nose sensors do not fatigue or get the “flu”. Further, the E-nose can be sent to
detect toxic and otherwise hazardous situations that humans may wish to avoid. Sensors can detect
toxic CO, which is odorless to humans. And humans are not well suited for repetitive or boring tasks
that are better left to machines. No wonder the E-nose is sometimes referred to as “sniffer”.
However, the human nose is still preferred for many situations like the selection of a fine wine or to
determine the off-odor of recycled plastics. In addition, the exquisite sensitivity of the dog’s nose for
sniffing out drugs or contraband in an airport is legendary already. These skills have not yet been
matched by any currently designed E-nose.

An electronic nose is an instrument comprised of three parts: (a) a sampling system, (b) an
array of chemical gas sensors producing an array of signals when confronted with a gas, vapor, or
odor, and (c) an appropriate pattern-classification system. The E-nose is typically applied to
qualitative or quantitative analysis of gases, vapors, odors, or complex chemical mixtures and has a
conveniently simple output, such as variety of coffee, or the identity of a solvent vapor. It is truly a
separate class of analytical instruments. A very recent version has been called a “micro nose”
because it is tiny and uses sensors made by a micro fabrication technique similar to the used to
manufacture semiconductor chip devices.
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The Analytical Significance

The terms “electronic nose” and “electronic tongue” are popular and descriptive but something
of a technical misnomer. The term chemical sensor array is more generally applicable term for this
field because it doesn’t confuse the fact that these systems are typically not sensing the same
chemicals that cause human “odors” or tastes”. The human perceptions may be due to an entirely
different chemical presence in the samples than the chemicals that are detected by the sensors in a
sensor array. This is obvious when one considers that the E-nose often contains a sensor that is
sensitive to carbon monoxide and the human nose cannot respond to this compound at all. The
reverse also applies. However, chemical sensor arrays can be nose like and tongue like in certain
aspects. For example, the rancidity of olive oil has been traced to the presence of one or two specific
aldehydes that are formed during spoiling. These are readily detected by human olfactory systems
as well as by chemical sensors. The E-nose and the human nose both effectively discriminate rancid
olive oil from good oil. The E-nose can also create different patterns depending upon the
concentration of aldehydes in the oil. This is an example of the analytical capability of the E-nose
being similar to the human nose and is a simple example that can be explained fully on a molecular
basis. Very few such problems involve such simple differences, however.

Features:

 It identifies the specific components of an odor and analyzes its chemical makeup to identify it.
 Electronic noses were originally used for quality control applications in the food, beverages
and cosmetics industries.
 Current applications include detection of odors specific to diseases for medical diagnosis, and
detection of pollutants and gas leaks for environmental protection.

Capabilities:

 E-nose can scan your breath for bacteria

 It can detect illnesses
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Global Positioning System (GPS) is a Satellite Navigation System

 GPS is funded by and controlled by the U.S Department of Defense (DOD). While there are
many thousands of civil users of GPS worldwide, the system was designed for and is operated
by the U.S military.
 GPS provides specially coded satellite signals that can be processed in a GPS receiver,
enabling the receiver to compute position, velocity and time.
 Four GPS satellite signals are used to compute positions in three dimensions and the time
offset in the receiver clock.

The Global Positioning System (GPS) is a satellite-based navigation system made up of a

network of 24 satellites placed into orbit by the U.S. Department of Defense. GPS was originally
intended for military applications, but in the 1980’s, the government made the system available for
civilian use. GPS works in any weather conditions, anywhere in the world, 24 hours a day. There are
no subscription fees or setup charges to use GPS.

How it Works?

GPS satellites circle the earth twice a day in a very precise orbit and transmit signal
information to earth. GPS receivers take this information and use triangulation to calculate the user’s
exact location. Essentially, the GPS receiver compares the time a signal was transmitted by a
satellite with the time it was received. The time difference tells the GPs receiver how far away the
satellite is. Now, with distance measurements from a few more satellites, the receiver can determine
the user’s position and display it on the unit’s electronic map.

A GPS receiver must be locked on the signal of at least satellites to calculate a 2D position (latitude
and longitude) and track movement. With four or more satellites in view, the receiver can determine
the user’s 3D position (latitude, longitude and altitude). Once the user’s position has been
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determined, the GPS unit can calculate other information, such as speed, bearing, track, trip distance,
distance to destination, sunrise and sunset time and more.

How accurate is the GPS?

Today’s GPS receivers are extremely accurate, thanks to their parallel multi-channel design.
Garmin’s 12 parallel channel receivers are quick to lock onto satellites when first turned on and they
maintain strong locks, even in dense foliage or urban settings with tall buildings. Certain atmospheric
factors and other sources of error can affect the accuracy of GPS receivers. Garmin GPS receivers
are accurate to within 15 meters on average.

Newer Garmin GPS receivers with WAAS (Wide Area Augmentation System) capability can
improve accuracy to less than three meters on average. No additional equipment or fees are
required to take advantage of WAAS. Users can also get better accuracy with Differential GPS
(DGPS), which corrects GPS signals to within an average of three to five meters. The U.S. Coast
Guard operates the most common DGPS correction service. This system consists of a network of
towers that receive GPS signals and transmit a corrected signal by beacon transmitters. In order to
get the corrected signal, users must have a differential beacon receiver and beacon antenna in
addition to their GPS.

The GPS Satellite System

The 24 satellites that make up the GPS space segment are orbiting the earth about 12,000
miles above us. They are constantly moving, making two complete orbits in less than 24 hours.
These satellites are traveling at speeds of roughly 7,000 miles an hour.

GPS satellites are powered by solar energy. They have backup batteries onboard to keep
them running in the event of a solar eclipse, when there’s no solar power. Small rocket boosters on
each satellite keep them flying in the correct path.
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Here are some other interesting facts about the GPS satellites (also called NAVSTAR, the
official U.S Department of Defense name for GPS):

 The first GPS satellite was launched in 1978.

 A full constellation of 24 satellites was achieved in 1994.
 Each satellite is built to last about 10 years. Replacements are constantly being built and
launched into orbit.
 A GPS satellite weighs approximately 2,000 pounds and is about 17 feet across with the solar
panels extended. Transmitter power is only 50 watts or less.

What’s the Signal?

GPS satellites transmit two low power radio signals, designated L1 and L2. Civilian GPS uses
the L1 frequency of 1575.42 MHz in the UHF band. The signals travel by line of sight, meaning they
will pass through clouds, glass and plastic but will not go through most solid objects such as buildings
and mountains.

A GPS signal contains three different bits of information – a pseudorandom code, ephemeris
data and almanac data. The pseudorandom code is simply an I.D. code that identifies which satellite
is transmitting information. You can view this number on your Garmin GPS unit’s satellite page, as it
identifies which satellites it’s receiving.

Ephemeris data, which is constantly transmitted by each satellite, contains important

information about the status of the satellite (healthy or unhealthy), current date and time.
This part of the signal is essential for determining a position.

The almanac data tells the GPS receiver where each GPS satellite should be at any time
throughout the day. Each satellite transmits almanac data showing the orbital information for that
satellite and for every other satellite in the system.

Sources of GPS Signal Errors

Factors that can degrade the GPS signal and thus affect accuracy include the following:

 Ionosphere and troposphere delays – The satellite signal slows as it passes through the
atmosphere. The GPS system uses a built-in model that calculates an average amount of
delay to partially correct for this type of error.

 Signal multipath – This occurs when the GPS signal is reflected off objects such as tall
buildings or large rock surfaces before it reaches the receiver. This increases the travel time
of the signal, thereby causing errors.

 Receiver clock errors – A receiver’s built-in clock is not as accurate as the atomic clocks
onboard the GPS satellites. Therefore, it may have very slight timing errors.
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 Orbital errors – Also known as ephemeris errors, these are inaccuracies of the satellite’s
reported location.

 Number of satellites visible – The more satellites a GPS receiver can “see”, the better the
accuracy. Buildings, terrain, electronic interference, or sometimes even dense foliage can
block signal reception, causing position errors or possibly no position reading at all. GPS units
typically will not work indoors, underwater or underground.

 Satellite geometry/shading – This refers to the relative position of the satellites at any given
time. Ideal satellite geometry exists when the satellites are located at wide angles relative to
each other. Poor geometry results when the satellites are located in a line or in a tight
grouping.

 Intentional degradation of the satellite signal – Selective Availability (SA) is an intentional

degradation of the signal once imposed by the U.S. Department of Defense. SA was intended
to prevent military adversaries from using the highly accurate GPS signals. The government
turned off SA in May 2000, which significantly improved the accuracy of civilian GPS receivers.

Shoebox-sized Robot

Features:

 Rugged aluminum frame (no plastic or wood)

 Dual front whisker sensors
 Rear wheel steering servo motor
 Front wheel DC gear drive motor
 Optical wheel encoder for distance measurement
 On-board coprocessor handles all motor control
 Controllable Red and Green LED’s
 Sound output transducer
 Two user defined push button switches
 3 user-defined RC servo control ports
 Serial communications port
 Expansion connector
 Socket to accept a Basic Stamp II controller chip
 Dimensions: 10” x 10”, 5” tall, 2-1/4 lbs
 Runs on 8 AA-cell batteries for 5 hours or more
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The Basic Stamp II is a small, self-contained computer controller manufactured by Parallax

Inc. This easy-to-use system is programmed using a Basic-like language called PBasic. Programs
are written on an IBM-style PC then downloaded to the Basic Stamp II for execution. Large libraries
of programs can be created and saved.

Shoebox-sized controller board accepts the Basic Stamp II (purchased separately) which
controls motors, LED’s, buzzer, and other devices. The Parallax Web site provides complete
information about the Basic Stamp II including the programming manual.

Shoebox-sized can be built and programmed by almost anyone

 Common hand tools – screwdriver and pliers

 Your choice of spray paint (if desired)
 Personal computer running Windows and a serial port
 Common understanding of computer usage
 Moderate understanding of Basic programming or a willingness to learn
 8 AA batteries. (over 5 hours of continuous run time)
 Basic Stamp II programming information – available free on the net, or purchase the book
 Internet connection for getting the latest information
 A never-ending desire to experiment and play with robots

The expansion port offers:

 All Basic Stamp I/O signals

 Coprocessor network signal
 3 standard RC servo motor signals
 Access to coprocessor network bus
 User defined signals
 Other signals can be wired by user
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Possible devices include:

 Additional whiskers
 Sonar range finder
 Smoke detector
 Light sensors
 Digital compass
 Tilt sensors
 IR communications