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Motor Units00:46

Motor Units

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A motor unit consists of two main components: a single efferent motor neuron (i.e., a neuron that carries impulses away from the central nervous system) and all of the muscle fibers it innervates. The motor neuron may innervate multiple muscle fibers, which are single cells, but only one motor neuron innervates a single muscle fiber.
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Mechanical Systems01:22

Mechanical Systems

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Mechanical systems are analogous to to electrical networks where springs and masses play similar roles to inductors and capacitors, respectively. A viscous damper in mechanical systems functions similarly to a resistor in electrical networks, dissipating energy. The forces acting on a mass in such systems include an applied force in the direction of motion, counteracted by forces from the spring, a viscous damper, and the mass's acceleration. This interplay of forces is mathematically...
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Hierarchy of Motor Control01:18

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The hierarchy of motor control refers to the different levels of organization and processing involved in controlling movement in the body. These levels range from higher cortical areas involved in planning and decision-making to lower spinal cord reflexes that respond automatically to external stimuli.
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Motor Units01:13

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The motor unit is a fundamental component of the neuromuscular system and plays a crucial role in coordinating muscle contractions. It consists of a somatic motor neuron, which connects and controls multiple skeletal muscle fibers, forming a single functional segment. The axon of the motor neuron branches out and establishes synaptic connections known as neuromuscular junctions with individual muscle fibers within the motor unit.
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PD Controller: Design01:26

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In automotive engineering, car suspension systems often employ Proportional Derivative (PD) controllers to enhance performance. PD controllers are utilized to adjust the damping force in response to road conditions. A controller, acting as an amplifier with a constant gain, demonstrates proportional control, with output directly mirroring input.
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The mechanical efficiency of a machine is a fundamental concept that describes how effectively a machine can convert input work into output work. According to this concept, the efficiency of a machine is equal to the ratio of the output work to the input work. An ideal machine, meaning a machine that has no energy losses, has an efficiency of one. This implies that the input work and the output work are equal.
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Updated: Jan 18, 2026

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy
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Honda humanoid robots development.

Masato Hirose1, Kenichi Ogawa

  • 1Honda R&D Co. Ltd., Wako Research Centre, 8-1 Honcho, Wako-shi, Saitama 351-0114, Japan. masato_hirose@n.w.rd.honda.co.jp

Philosophical Transactions. Series A, Mathematical, Physical, and Engineering Sciences
|December 7, 2006
PubMed
Summary

Honda

Area of Science:

  • Robotics
  • Humanoid Robot Technology
  • Artificial Intelligence

Background:

  • Honda's robotics research began in 1986, initially focusing on static bipedal walking.
  • Early prototypes demonstrated basic straight-line locomotion.

Purpose of the Study:

  • To detail the advancements in Honda's humanoid robot, ASIMO.
  • To highlight ASIMO's capabilities in human living spaces and potential for societal improvement.

Main Methods:

  • Development of advanced bipedal walking technology.
  • Integration of sophisticated control systems for dynamic movement.
  • Engineering of dexterous manipulators (five-finger arms).

Main Results:

  • Achieved continuous transition from straight walking to turning.

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  • Developed ASIMO as Honda's most advanced robot to date.
  • Enabled ASIMO to operate within human environments.

    • Conclusions:

    • ASIMO represents a significant step towards robots assisting humans in daily life.
    • Further mechanical and electronic development is planned to enhance ASIMO's capabilities.
    • Honda aims to improve human life through continued robotics innovation.