View Full Version : Re: Asimo robot gait

Paolo De Leva
12-08-2007, 02:51 AM
Dear Chris,

the robot may also need some damping and possibly elastic energy storage
(EES) immediately after foot contact (we cannot call it "heel strike" in
this case) and it only gets it by means of knee flexion.

Our pelvis contributes to damping and EES, mainly by rotating about its
anteroposterior axis at foot contact. Asimo's pelvis can only rotate about
its cranio-caudal axis.

Asimo's ankle seems rather "primitive" and incapable of damping at foot
contact. Our ankle contributes to damping: e.g. our tibialis anterior is
active at heel contact and this decreases the so called "passive peak" of
the ground reaction force.


Paolo de Leva

-----Messaggio originale-----
Da: * Biomechanics and Movement Science listserver
[mailto:BIOMCH-L@NIC.SURFNET.NL] Per conto di Chris Kirtley
Inviato: venerdý 7 dicembre 2007 13.18
Oggetto: Asimo robot gait

G'day all,

This question is really just an excuse to be the first BIOMCH-L youtube
reference :-)


I saw the Asimo robot up close today here in Brisbane. It is impressive, but
what interested me was the way it walks with flexed knees. When running the
degree of knee flexion increases further. I am wondering if anyone knows why
the Honda engineers did that - since the objective is to be as humanoid as
possible, the flexed knee must clearly be such an advantage that they
couldn't avoid it.

Look forward to the discussion!


Dr. Chris Kirtley MB ChB, PhD
608 Dockside
44 Ferry St.
Kangaroo Point
Queensland 4169
Tel. (07) 3891 6644 x 1608
Fax 3891 6900

Bond University
Mondays (07) 5595 4430

West End Family Medical Centre
Wednesdays & Fridays (07) 3844 4111

Clinical Gait Analysis: http://www.univie.ac.at/cga