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Humanoid Robots

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Encyclopedia of Robotics

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Definitions

  • Humanoid robot (or simply “humanoid”): It usually refers to a robot whose shape is close to that of humans. Its definition varies according to researchers, ranging from a dual-arm upper-body robot to a biped walker. In this entry, an actuated human-size biped robot with arms and a head, designed to achieve some human capability, is considered as a humanoid robot.

  • Zero moment point (ZMP): Assuming the flat ground, the ZMP is defined as the point where the horizontal components of the moments applied to the body parts attached to the ground become zero.

Overview

This entry is intended to provide a brief overview of humanoid robots, focusing on the human-size, bipedal type. Starting from its historical development and hardware progress, bipedal locomotion and whole-body motion planning and control are described as important aspects of making humanoid robots execute desired tasks. Wearable device evaluation and large-scale assembly are also introduced as promising applications...

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Authors and Affiliations

  1. CNRS-AIST JRL (Joint Robotics Laboratory), IRL, National Institute of Advanced Industrial Science and Technology (AIST), Ibaraki, Japan

    Eiichi Yoshida

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  1. Eiichi Yoshida
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Correspondence to Eiichi Yoshida .

Editor information

Editors and Affiliations

  1. Department of Mechanical Engineering, National University of Singapore, Singapore, Singapore

    Marcelo H. Ang

  2. Department of Computer Science, Stanford University, Stanford, CA, USA

    Oussama Khatib

  3. Department of Electrical Engineering, University of Naples Federico II, Naples, Italy

    Bruno Siciliano

Section Editor information

  1. Dipartimento di Ingegneria Informatica, Automatica e Gestionale, Sapienza Università di Roma, Via Ariosto 25, 00185, Roma, Italy

    Giuseppe Oriolo

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Yoshida, E. (2021). Humanoid Robots. In: Ang, M.H., Khatib, O., Siciliano, B. (eds) Encyclopedia of Robotics. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-41610-1_44-1

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