E0 (1986)[1]
| 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[2]
|
|
|
|
|
P2 (1995)[3]
| 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[4]
|
Shoulder joint
|
3 x 2
|
| variation
|
limited
|
Elbow joint
|
1 x 2
|
| period
|
0.6 — 1.0 s/step[5]
|
Wrist joint
|
3 x 2
|
|
|
Hand
|
2 x 2
|
| total
|
30
|
|
P3 (1996)[6][4]
| 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[7]
|
Wrist joint
|
3 x 2
|
|
|
Hand
|
1 x 2
|
| total
|
28
|
|
ASIMO (2000)[8]
| 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)[9]
| 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.
