On November 20th, 2000, Asimo was unveiled in Tokyo. Asimo stands for “Advanced Step (in) Innovative Mobility.”
https://www.youtube.com/watch?v=MaZAsGmztG0
https://www.youtube.com/watch?v=82JFCciO3E4
This original version of Asimo is 120 cm tall and weighs 43 kg. Asimo(2000) has 6 DoF in each leg, 5 DoF in each arm, 1 DoF in each hand, and 2 DoF in its head for a total of 26 DoF. Each actuator is made up of an electric motor combined with a harmonic gearbox. Powered by a 38.4V 10 Ah Ni-MH battery, Asimo(2000) has a battery life of approximately 30 minutes. The battery takes 4 hours to charge, and can be easily swapped. Asimo’s joints are made of casted magnesium alloy with a wall thickness of 1.5mm. Asimo(2000) has a top speed of 1.6 km/h. Asimo(2000)’s second public apperance was alongside P3 at Robodex 2000 on the 23rd of November, 2000.
https://www.youtube.com/watch?v=4Q3E-GB5FyU&t=99s
As detailed in Styling Design of the Humanoid Robot ASIMO, Akio Koike and Takeshi Koshiishi started by scaling down the height of P3. The team agreed upon 120 CM as the height, but the proportions looked off. The team decoded to go from a body of eight head lengths on P3, to a body length of approximately six head lengths.