Arm Operating
By raising ASIMO´s shoulder joint mounting angle by 20°, elbow height was increased to 15 degrees over horizontal, allowing a wider range of work capability.
	Also, ASIMO's range of vertical arm movement has been increased to 105°, compared to P3's 90-degree range.
Walking
The introduction of intelligent, real-time, flexible-walking i-WALK technology allowed ASIMO to walk continuously while changing directions, and gave the robot even greater stability in response to sudden movements.
	The new ASIMO Walking Technology features a predicted movement control added to the earlier walking control technology. This new two-legged walking technology permits more flexible walking.
As a result, ASIMO now walks more smoothly and more naturally. When human beings walk straight ahead and start to turn a corner, they shift their center of gravity toward the inside of the turn.
	Thanks to new ASIMO Walking Technology, ASIMO can predict its next movement in real time and shift its center of gravity in anticipation.
Degrees of Freedom
The number of Degrees of Freedom (DOF) defines the number of different ways in which a part of the robot`s body can move. ASIMO`s head has two DOF: one for turning it up and down and one for rotation.
	In total, each arm has five DOF. The shoulder has three DOF for bending up and down, moving side to side and for rotation. The elbow and the wrist have one DOF respectively. Furthermore ASIMO`s hand has one DOF for grasping movement.
Each of ASIMO`s legs has six DOF: Three DOF in the hip joint, one in the knee joint and two in the ankle joint. This high versatility makes ASIMO flexible for operating in a human environment.