History of Honda's Robot Development
In studying the fundamental principles of bipedal locomotion, Honda researched and observed all forms of walking, performed numerous experiments, and collected an immense amount of data.
At E0, a robot that walks by putting one leg before the other was successfully achieved.
But it took nearly five seconds between steps and could only do slow walking in a straight line.
To increase walking speed, or to allow walking on uneven surfaces or slopes, fast walking must be realized.
During slow walking, the body's center of gravity remains always centered over the solesof the feet.
When body movement is used for smooth,fast walking, the center of gravity is not alwaysover the soles of the feet.