Humanoid Robots: Vishwakarma Institute of Technology, Pune-37 Department of Electronics and Telecommunication Engineering

Vishwakarma Institute of Technology, Pune-37
Department of Electronics and Telecommunication Engineering
Humanoid
Robots
Presented By-
Sagar Potnis(63) Karan Hiware(22)
Siddhesh(81) Soham Sajekar(77) Soham Ekbote(18)

Introduction
○ A humanoid robot is a robot that resembles human

both in appearance and behaviour.
○ In general , humanoid robots have a torso, a head,

two arms, and two legs.
○ The design may be for functional purposes, such as

interacting with human tools and environments, for
experimental purposes etc.
2
TY-K_Robotics - Humanoid Robots
Composition
○ A humanoid robot is a robot with its body shape built to resemble the human body.
○ Two main components of humanoid are 1)Sensors 2)Actuators
3
Humanoid Sensors
○ A sensor is a device that measures some attribute of the world.
○ Sensing plays an important role in robotic paradigms.
○ Robotic sensing is a branch of robotics science intended to give
robots sensing capabilities, so that robots are more human-like.
○ Two main sensors used in humanoid are-
• Proprioceptive
• Exteroceptive
Why do we need sensors?

• Localization
• Object Detection
• Environment estimation
4
A) Proprioceptive Sensors
○ These sensors are external sensors.
○ Proprioceptive sensors sense the position, the orientation and the speed of
the humanoid's body and joints.
○ Humans use their own proprioceptive sensors like touch, muscle extension,
limb position to help with their orientation.
○ Humanoid robots use
a. Accelerometers to measure the acceleration, from which velocity can be calculated

by integration;
b. Tilt sensors to measure inclination;
c. Force sensors placed in robot's hands and feet to measure contact force with
environment;
d. Position sensors, that indicate the actual position of the robot (from which the
velocity can be calculated by derivation) or even speed sensors.
5
B) Exteroceptive Sensors
○ These sensors are external sensors.
○ Arrays of tactile elements can be used to provide data on what has been
touched.
○ The Shadow Hand uses an array of 34 tactile elements arranged beneath its
polyurethane skin on each finger tip.
○ Tactile sensors also provide information about forces and torques transferred
between the robot and other objects.
○ Vision refers to processing data from any modality which uses the
electromagnetic spectrum to produce an image.
○ In humanoid robots it is used to recognize objects and determine their
properties.
○ Vision sensors work most similarly to the eyes of human beings. Most humanoid
robots use CCD cameras as vision sensors.
○ Sound sensors allow humanoid robots to hear speech and environmental sounds,
and perform as the ears of the human being. Microphones are usually used for
this task.
6
Some sensors used in robot sensing
○ Microphones
○ Infrared Sensors
○ Ultrasound Sensors
○ Camera Sensors
7
Actuators
○ Actuators are the motors responsible for motion in the robot.
○ Humanoid robots are constructed in such a way that they mimic the human
body, so they use actuators that perform like muscles and joints, though
with a different structure.
○ To achieve the same effect as human motion, humanoid robots use mainly
rotary actuators.
○ Actuators are chosen according to factors like speed and load it can carry
Some of the actuators are

• Hydraulic and electric actuators
• Piezoelectric actuators-
• Ultrasonic actuators
• Pneumatic actuators
8
Why do we need Humanoids?
What benefits can do they offer?
○ Work in dangerous environments
○ Exhaustive and repetitive tasks
○ Division of labor with humans in cooperative tasks
○ Interaction and communication
9
McDonald's Says Goodbye Cashiers, Hello Kiosks
“Would you like fries

with that?” may soon
be a phrase of the
past.
McDonald's Self Ordering Kiosk (Wall Street Journal, Kevin

Hagen)
WALL STREET JOURNAL
Restaurant customers expecting to be greeted by a smiling face will instead

be welcomed by a glowing LED screen.
10
Why do we need Humanoids?
Less disconnecting to work around for humans.
Can use tools and systems made for humans.
Humans are the best all-purpose design.
11
Honda’s ASIMO
ASIMO (Advanced Step in Innovative Mobility) is a humanoid

robot created by Honda in 2000.
• The robot can detect the movements of multiple objects by

using visual information captured by two camera "eyes" in its
head and also determine distance and direction.
• The lower portion of the torso has ground sensor which

comprises one laser sensor and one infrared sensor.
• There are front and rear ultrasonic sensors to sense the

obstacles.
12
Honda’s ASIMO
P1 – Prototype Model 1
First prototype of a man-like model with upper
limbs and body
First humanoid stunned the public with realistic
movements
Evolution in size and weight marked this fun
humanoid.
13
Honda’s ASIMO
Specifications
14
MANAV (ROBOT)
Manav is India's first humanoid robot which

was developed in the laboratory of A-SET
Training and Research Institutes by Diwakar
Vaish (Head of Robotics and Research, A-SET
Training and Research Institutes) in late
December 2014. It debuted at the IIT-
Bombay Techfest 2014-15 in Mumbai.
15
Design of MANAV
• Manav stands at 2 feet tall and has a weight of 2 kilograms. It is equipped with
onboard sound processing and visual processing so it can respond to commands.
• Thanks to the onboard processor and various sensors, Manav can perform various

activities like walking, dancing with the only requirement of human voice commands.
• Manav has the capability of Binocular vision processing, giving it the ability to perceive
depth and perspective.
• The Robot was designed in a span of 2 months.
• Manav's outer body was designed in A-SET's own 3D printing laboratory and is made
of Acrylonitrile butadiene styrene plastic.
16
Design of MANAV
• Manav has a total of 21 degrees of freedom, two of which provide the movement of
the head allowing it to nod and look around. 1 degree of freedom goes to the waist
which allows it to articulate the waist movement allowing for a more human-like
movement.
• The robot comes with a rechargeable Lithium polymer battery which can keep it

running for one hour.
• The Robot can be purchased with multiple micro-controllers and battery sizes
according to the requirements of the user.
• The robot is also equipped with Wi-Fi and Bluetooth connectivity.
17
Diwakar Vaish, the designer of MANAV, demonstrating the robot
at IIT - Bombay Techfest 2015
18
Sofia The ROBOT
o Sophia is a social robot developed by Hong Kong based

company Hanson Robotics.
o Sofia was activated on April 19,2015.
o She is able to display more than 62 facial expressions.
o In October 2017, Sofia became a Saudi Arabian citizen,

the first robot to receive citizenship in any country.
19
A) Features of Sofia
○ Facial recognizing eyes.(She can follow

faces and maintain eye contact.)
○ Skin made up of Silicone.
○ Can perform 62 facial expressions.
○ Electronic synthesis voice system.
○ Ability to learn from experience.
○ Familiar with Culture, Customs, Feelings,

Emotions, and Linguistic styles.
20
B) Sofia’s Algorithm
○ Sofia does not have human intelligence to construct a witty response.
○ Sofia is more of a user-interface than a being.
○ Algorithm can answer questions like , ” Who are you looking at? ” or “Is
the door open or shut?”.
○ Speech reciting robot.
○ A robotic chatbot.
21
C) Advantages
○ Sofia can be used as a teacher in rural areas.

○ Sofia can be used a companion for lonely people.
○ Sofia can be a business robot. (Stock market).
D) Disadvantages
○ People are afraid that robots will replace their jobs.

○ If this is so then the economy will be deprecated.
○ Advanced robots are making humans lazy.
○ Many fear that robots can take over mankind
22
Erica
23
Design Of Erica
○ Erica is a collaborative effort from Osaka and Kyoto universities, and the Advanced
Telecommunications Research Institute International (ATR).
○ Height: 166cm (in standing)
○ Shoulder width: 36cm
○ Bust(top): 84cm
○ Bust(under): 67cm
○ Waist: 63cm
○ Hip: 92cm
○ Size of cloth: M (japanese)
○ Language: mainly Japanese
24
Design Of Erica
○ Erica possesses improved speech and an ability to understand and respond to

questions, her every utterance accompanied by uncannily humanlike changes in
her facial expression
○ ERICA’s body has 44 degrees of freedom (DOF),of which 19 are controllable
○ ERICA’s speech synthesis is performed using a custom voice designed for Hoya’s
Voice Text Soft-ware.
25
Erica
○ The eyes have 3 DOF’s and can be
○ controlled synchronously in yaw, pitch, and

convergence.
○ Upper and lower eyelids and inner and outer
eyebrows provide
○ 4 DOF’s. Another 4 DOF’s are focused on mouth
height,
○ width, and upper and lower corners of the mouth,
while the
○ final 2 DOF’s in the face actuate the tongue and the
jaw
04/12/2020 Humanoid Robots 26

Erica
27
Erica
04/12/2020 Humanoid Robots

2
28
Kodomoroid Tv Presenter
• This humanoid robot was invented in Japan.
• Her name is derived from the Japanese word for

child- Kodomo- and the word 'Android’.
• She speaks a number of languages and is

capable of reading the news and giving weather
forecasts.
• She has been placed at the Museum of

Emerging Science and Innovation in Tokyo
where she currently works.
29
Future Developments
• Humanoid robots, while being one of the smallest groups of service robots in the
current market, have the greatest potential to become the industrial tool of the future.
• Currently, humanoid robots are excelling in the medical industry, especially as

companion robots.
• NASA is using its Valkyrie robot for similar tasks, albeit on future missions to Mars.
Valkyrie is a 6-2 humanoid robot weighing 300 lb.
• Psychosensory electronic skin technology for future AI and humanoid development
• Scientists have developed electronic skin technology for robots or electronic devices to
feel pain through sense of touch. Expected to be applied in humanoid that needs 5
human senses and patients wearing prosthetic hands.
30
References
• https://en.wikipedia.org/wiki/Sophia_(robot)
• https://qz.com/1121547/how-smart-is-the-first-robot-citizen/
• https://www.youtube.com/watch?v=S5t6K9iwcdw
• https://en.m.wikipedia.org/wiki/ASIMO
• https://asimo.honda.com/
• https://science.howstuffworks.com/asimo.h
• https://youtu.be/1urL_X_vp7w
• https://robots.ieee.org/robots/erica/
• https://www.analyticsvidhya.com/blog/2018/02/erica-robot-news-anchor-japan/
• https://robohub.org/erica-a-robot-made-to-look-human/
31

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Vishwakarma Institute of Technology, Pune-37

Department of Electronics and Telecommunication Engineering

Sagar Potnis(63) Karan Hiware(22)

Siddhesh(81) Soham Sajekar(77) Soham Ekbote(18)

○ A humanoid robot is a robot that resembles human

○ In general , humanoid robots have a torso, a head,

○ The design may be for functional purposes, such as

○ Two main components of humanoid are 1)Sensors 2)Actuators

Why do we need sensors?

a. Accelerometers to measure the acceleration, from which velocity can be calculated

b. Tilt sensors to measure inclination;

Some of the actuators are

What benefits can do they offer?

○ Work in dangerous environments

○ Exhaustive and repetitive tasks

○ Division of labor with humans in cooperative tasks

○ Interaction and communication

“Would you like fries

McDonald's Self Ordering Kiosk (Wall Street Journal, Kevin

Restaurant customers expecting to be greeted by a smiling face will instead

Less disconnecting to work around for humans.

Can use tools and systems made for humans.

Humans are the best all-purpose design.

ASIMO (Advanced Step in Innovative Mobility) is a humanoid

• The robot can detect the movements of multiple objects by

• The lower portion of the torso has ground sensor which

• There are front and rear ultrasonic sensors to sense the

Manav is India's first humanoid robot which

• Thanks to the onboard processor and various sensors, Manav can perform various

• The Robot was designed in a span of 2 months.

• The robot comes with a rechargeable Lithium polymer battery which can keep it

• The robot is also equipped with Wi-Fi and Bluetooth connectivity.

o Sophia is a social robot developed by Hong Kong based

o Sofia was activated on April 19,2015.

o She is able to display more than 62 facial expressions.

o In October 2017, Sofia became a Saudi Arabian citizen,

○ Facial recognizing eyes.(She can follow

○ Skin made up of Silicone.

○ Can perform 62 facial expressions.

○ Electronic synthesis voice system.

○ Ability to learn from experience.

○ Familiar with Culture, Customs, Feelings,

○ Sofia does not have human intelligence to construct a witty response.

○ Sofia is more of a user-interface than a being.

○ Speech reciting robot.

○ Sofia can be used as a teacher in rural areas.

○ People are afraid that robots will replace their jobs.

○ Erica possesses improved speech and an ability to understand and respond to

○ The eyes have 3 DOF’s and can be

○ controlled synchronously in yaw, pitch, and

04/12/2020 Humanoid Robots 26

04/12/2020 Humanoid Robots

• This humanoid robot was invented in Japan.

• Her name is derived from the Japanese word for

• She speaks a number of languages and is

• She has been placed at the Museum of

• Currently, humanoid robots are excelling in the medical industry, especially as

• Psychosensory electronic skin technology for future AI and humanoid development

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