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ASIMO (Advanced Step in Innovative Mobility) is a humanoid robot created by the Japanese automaker Honda in October of 2000. Some of Asimo's notable features are its ability to walk and run on uneven surfaces and up slopes, climb stairs, grasp and manipulate objects, respond to simple voice commands, recognize faces, and avoid moving obstacles. Honda created Asimo with the goal of it being able to assist those with limited mobility.

E0-E3 (1986-1991)
The technology that is used in Asimo began development in 1986, when Honda developed its first experimental biped robot. With its early models Honda focused on studying human walking, and set out to create a robot that accurately mimicked the walk of a human. Honda's E3 model was able to walk in a straight line at 1.8 mph.

E4-E6 (1991-1993)
With the E series of biped robots Honda focused on improving walk stabilization and adding the ability for the robot to walk up stairs. To achieve this Honda added autonomous control of balancing.

P1-P3 (1993-1997)
With the P1 model Honda added a head, body, and arms, creating its first humanoid robot. P1 stood 6 feet 2 inches and weighed 386 lbs. By the P3 model Honda's humanoid robot was now wireless and considerably lighter at 286 lbs. Honda was able to reduce the weight by changing component materials and moving some control systems to a remote computer.

Hardware
ASIMO is constructed of Magnesium alloy covered with a plastic resin. Honda chose the height of ASIMO so that it can better access human working and living environments. ASIMO has joints located in the neck, shoulder, elbows, wrists, fingers, waist, knees, and feet. The joints give it feedom of movement in either the up/down, left/right/ or rotational axises. ASIMO has a total of 34 degrees of freedom. Movement is accomplished with the assistance of actuators. Mounted on ASIMO's body are a speed sensor and gyroscope that function similar to a human inner ear allowing ASIMO to sense its position and speed and pass that information along to its central computer. In order to be aware of its position in relation to its environment ASIMO is equipped with a floor sensor and ultrasonic sensor which allows it to be aware of objects around it. In order to be aware of information about the surface ASIMO is walking on it has a joint sensor and 6-axis force sensor in its feet. ASIMO has two video cameras that allow it to interpret its visual environment. ASIMO receives sounds via three microphones located in its head, which allow it to determine the direction of origin of the sound. ASIMO is powered by a 13 lbs, rechargeable, Lithium-ion battery.

Software
ASIMO software is handled in two ways; the main processing is done on-board, while database work is handled on a remote server.

Server
ASIMO access the server via wireless connection. Some of the functions handled by the server include a global map, internet, face data, personal information, reservation system, notification and dialog manager.

On-Board
ASIMO has several computers built in to handle its main functions of movement planning, vision, sound and voice and motor and power control. ASIMO's planning software follows a hierarchical structure. ASIMO is able to function autonomously, planning some tasks, while other times reacting to its environment.

Movement
ASIMO is able to shift its body in order to adjust its center of gravity, allow real-time adjustment of balance. By shifting its body weight ASIMO is able to turn at high speeds without stopping. ASIMO is able to avoid bumping into obsticles by detecting them with its sensors and then using software algorithms to determine the safest path to take.

Uses
In april of 2008 ASIMO conducted the Detroit Symphony Orchestra.

Influence on Technology
With knowledge gained from working with Asimo Honda created a line of mobility devices to aid people with weakened muscles walk. Honda has also created the U3-X using balancing technology gained from Asimo.