Human walking was thoroughly researched and analyzed. In
addition to human walking, animal walking and other forms of
walking were also studied, and the movement and location of
the joints needed for walking were also researched.
Based on data derived from human walking, a fast walking
program was created, input into the robot and experiments
were begun.
The E2 robot achieved fast walking at a speed of 1.2 km/h
on flat surfaces.
Completing the Basic Functions of Two-Legged Walking Research on Completely Independent Humanoid Robots
Honda investigated techniques for stabilizing walking, and
developed three control techniques.
The walking mechanism was established with the E5. Honda's
E5 robot achieved stable, two-legged walking, even on steps or
sloping surfaces.
Establishing Technology for Stable Walking Advances in Humanoid RobotsTo achieve a fast walking pace, it was necessary to
study how human beings walk.
Walking by putting one leg before the other was successfully
achieved. However, taking nearly five seconds between steps,
it walked very slowly in a straight line.
Slow Walking & Fast Walking
To increase walking speed, or to allow walking on uneven
surfaces or slopes, fast walking must be realized.
The next step was to realize fast, stable walking in the human
living environment, especially on uneven surfaces, slopes and
steps, without falling down.
The next step was to attach the legs to a body and create a
humanoid robot.
Start of R&D
Examining the Principles of Two-Legged Locomotion Realizing Rapid Two-Legged Walking
First, a two-legged robot was made to walk.
The 3 Posture Controls Needed for Stable Walking
P1 Humanoid Robot Model #1
Height: 1,915mm Weight 175kg
The robot can turn external electrical and computer
switches on and off, grab doorknobs, and pick up and
carry things. Research was also carried out on coordination
between arm and leg movements.
The world's first self-regulating, two-legged humanoid
walking robot debuted in December, 1996.
Height: 1,820mm Weight: 210kg
Using wireless techniques, the torso contained a computer,
motor drives, battery, wireless radio and other necessary
devices, all of which were built in. Independent walking,
walking up and down stairs, cart pushing and other
operations were achieved without wires, allowing
independent operation.
P2
The first completely independent, two-legged humanoid
walking robot was completed in September, 1997.
Height: 1,600mm Weight: 130kg
Size and weight were reduced by changing component
materials and by decentralizing the control system. Its
smaller size is better suited for use in the human environment.
P3
Research On Human Walking Achieving Stable Walking Advances in Humanoid Robots
*The "E" in Models E0~E6 stands for ÒExperimental Model."
*The "P" in Models P1~P3 stands for "Prototype Model."
Floor Reaction
Control
Target ZMP
Control
Foot Planting
Location Control
During slow walking, the body's center of gravity remains always
centered on the soles of the feet.
When body movement is used for smooth, fast walking, the
center of gravity is not always on the soles of the feet.
Slow Walking
Fast Walking
Movement of
Center of Gravity
Movement of
Center of Gravity
Sole of Foot
Sole of Foot
