2022 IEEE International Students' Conference on Electrical, Electronics and Computer Science

The Recent Advancements in Humanoid Robot

Technology
2022 IEEE International Students' Conference on Electrical, Electronics and Computer Science (SCEECS) | 978-1-6654-1418-0/22/$31.00 ©2022 IEEE | DOI: 10.1109/SCEECS54111.2022.9740828

1st Deepa Ahirwar 2nd Jahanvi Purohit 3rd Vijay Bhaskar Semwal
Research Scholar, Department of UG Student, Department of Computer Assistant Professor, Department of
Mechanical Engineering Science Engineering Computer Science & Engineering
Maulana Azad National Institute of Maulana Azad National Institute of Maulana Azad National Institute of
Technology Technology Technology
Bhopal, MP, India Bhopal, MP, India Bhopal, MP, India
deepa.ahirwar25@gmail.com jahanvipurohit.09@gmail.com vsemwal@gmail.com

4th Suresh Gawre 5th Meenakshi Rajpurohit

Assistant Professor, Department of PG Scholar, Department of Physics
Computer Science & Engineering (Nano Technology Centre)
Maulana Azad National Institute of Maulana Azad National Institute of
Technology Technology
Bhopal, MP, India Bhopal, MP, India
sgawre28@gmail.com meenakshirajpurohit13@gmail.com

Abstract— body's working, the Bipedal Locomotion, how people gain

Fantasy of humanoid robot analysts is to create a total
"human-like" counterfeit specialist both as far as body and
mind. The field of humanoids advanced mechanics is broadly
perceived as the ebb and flow challenge for advanced
mechanics. Humanoid research is a way to deal with,
comprehend and understand the mind boggling genuine
communications between a robot, a climate and human. The
humanoid advanced mechanics spurs social associations, for
example, signal correspondence or co-employable errands in
similar settings as the actual elements. This is fundamental
for three-term connection, which targets intertwining
physical and social communication at central levels. We
presently have seen an expanding number of humanoid
robots, (for example, Honda's ASIMO, ARMAR-3, NAO,
ATLAS and numerous others). These show just a
predetermined number of intellectual abilities as far as
insight, learning and dynamic.
Keywords— Humanoid Robotics, Degree of freedom
(DOF), Artificial Skin, Bipedal Locomotion, COP Balancing,
CMP Balancing, Push Recovery, Deep Learning.
I. INTRODUCTION
Humanoid Robot is a robot with its body shape worked
to take after human body and by and large comprises of at
least one of the accompanying parts, Legs, Torso, Arms
and some of the time a Head with camera as the eyes for
interfacing with the climate, perceiving and characterizing
objects. Due to different joints movement, the humanoid
robots are capable of performing human similar behavior
like jumping, walking avoiding obstacle etc. Initially to
understand the human walking and posture stability the
machine with bipedal architecture is designed. The
humanoid robots are extremely helpful machine to perform
the social interaction, work in human habitual
environment, providing assistant in performing of variety
of tasks.
Initially motive of this was to construct better orthosis
and prosthesis for the human body, and soon it turned into
a medium to all the more likely comprehend the human
from tangible data to secure perceptual information about
our general surroundings.
Other than exploration, Humanoid robots are being
created to perform human activities. Humanoids are
additionally reasonable for some procedurally-based
employments, for example, front counter managers and
auto assembling line laborers. They can utilize instruments
and work hardware and vehicles, humanoids could
hypothetically play out any undertaking a person can, as
long as they have the proper programming. In 1967,
Waseda University started the WABOT undertaking to
attempt to fabricate a human robot, and in 1972 finished
the WABOT-1, the world's first humanoid savvy robot. In
2016, OceanOne, a group at Stanford University, made a
robot by a Computer Science teacher OussamaKhatib. The
robot is controlled distantly, has haptic sensors in its grasp,
and man-made reasoning capacities [1]. Another
prominent names in the field are:
 MANAV, it is India's first 3D printed humanoid
robot which is created in the lab of A-SET
Training and Research Institutes.
 SOPHIA, created by Hanson Robotics.
 Map book, created by Boston Dynamics.
 TALOS, created by Pal Robotics.
 ASIMO, created by Honda.
II. TYPES OF HUMANOID ROBOT CURRENTLY
DEVELOPED
A. P2
Honda's Humanoid Robot has a sum of 30 DOF. 14 DOF
in two arms (3 in shoulder, 1 in elbow, 3 in wrist), 12
DOF in two legs (3 in hip, 1 in knee, 2 in lower leg), and 4
DOF in two hands which are like a two fingered gripper.
P2 has an effect assimilation instrument in its feet, which

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 goes about as a mechanical low pass channel which
forestalls the vibration of leg consistence control.
B. HRP-2P
It is made out of 30 DOF (head = 2 DOF, each arm = 7
DOF, midriff = 2 DOF, every leg = 6 DOF).
A Cantilever type structure in the hip joint was acquainted
with forestall spilling, and to get up by a humanoid robot's
own self after it spills. This design likewise guarantees
negligible harm to legs in case of spilling. It can likewise
adapt to the harsh territory.
To decrease the heaviness of the humanoid robot, primary
parts were made of magnesium composite as opposed to
aluminum compound since its particular gravity is 68% of
that of aluminum amalgam.
A HRP interface board and a quad power sensors interface
board was created in light of the fact that the then PCI
sheets couldn't deal with the quantity of engines,
encoders, sensors which HRP-2 was to be stacked with. It
had a dream framework which was utilized to create a 3D
landscape guide of the worksite, distinguish ground
geography for strolling, and label the source and target
focuses for object picking and putting.
C. KHR-1
The biped strolling robot stage was made out of 22 DOF
(12 DOF for lower appendages, 8 DOF for arms and 2
DOF for midriff). It utilizes 3 sorts of driving frameworks,
In-line pivot driving framework, Parallel hub driving
framework, Intersecting hub driving framework relying
upon joint kinds and space limitation. The consonant drive
gear known for being light, smaller and having zero
kickback was utilized as the principle decrease gear for
each joint. Through a progression of reenactment the
greatest required engine force of hip, knee and lower leg
joints were determined for their separate pitch, roll and
yaw pivot [1].
The fundamental electrical parts, for example, master
regulator,motor amplifier, battery, and so forth were
introduced in the chest so it could stroll in work spaces
without having any wiring association with outside
regulators. A Pentium III-500 installed PC was utilized as
an expert regulator. It controlled 12 DC engines of the
upper and lower body of the robot. Likewise it had an
inherent microcontroller which gets the deliberate power
and force information from the power/force sensor
appended to the sole of the robot.
The biped robot was intended for about an hour of self-
sufficient strolling, with its backup power utilization at
under 100W and 150-240W at strolling mode.
D. KHR-2
The biped strolling robot stage was formed with 41 DOF.
Each arm including a hand had 11 DOF (1 DOF for each
finger) and every leg had 6 DOF. The storage
compartment had 1 DOF. It additionally included a head
with 6 DOF (2 each for the eyes and 2 for the neck)
dissimilar to KHR-1. In the head there are two CCD
cameras utilized as eyes.
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Since KHR-2 has twice as many joints than KHR-1 and
numerous fringe gadgets like vision framework, remote
LAN, we embraced the CAN convention (Multi-
Master/Multi Slave) which has a fast sequential
correspondence, which was utilized to deal with every one
of the 19 sub regulators.
From progressing between Single Support Phase to totally
Double Support Phase, the lower leg pitch points and
pelvis position were altered to forestall the tendency of the
chest area by utilizing an Inertia Sensor situated at the
foundation of the middle. It likewise had four 3-pivot F/T
sensors, and a rate gyro/speed increase sensor at the
storage compartment. The biped robot could work for
around 50 minutes.
E. ALBERT HUBO
KAIST HUBO group and Hanson Robotics group fostered
an android type humanoid robot, which might be the
world's first expressive human face on a mobile biped
robot. There are 66 DOF altogether. Face and Neck have
31 DOF, other Body parts have 35 DOF. The head part,
which takes after Albert Einstein’s face, utilizes 'Fubber'
(a construction of tissue and elastic) for smooth
counterfeit skin and 28 servo engines for face
developments. The servo motors are connected with the
different marks of its face through teflon-covered nylon
strings and the face movements are produced by drawing
or delivering the strings which are connected with secures
at different face focuses like foreheads, eyes, jaw, lips,
scowl, and so on for creating a full scope of looks like
giggle, pity, furious, shocked, and so forth[1].
F. ARMAR-III
The humanoid robot was intended to manage a family
climate, fundamentally kitchen, and the wide assortment
of articles and exercises experienced in it. It has 43
(DOF). The head has an all-out number of 7 DOFs. The
midsection has 3 DOFs. Each arm has 7 DOFs and each
hand has 8 DOFs. For the velocity, a portable stage which
takes into consideration holonomic mobility in the
application region was utilized.One of the benchmarks is
stacking and dumping a dishwasher and a cooler with
different things like tetra packs, bottles with labels,
ketchup, lager, and so on.
G. HRP-3
Replacement to HRP-2, HRP-3 had an aggregate of 42
DOF (each arm =7 DOF, each leg=6 DOF, head=2 DOF,
waist=2 DOF, each hand=6 DOF). The hand currently has
2 fingers and a thumb though HRP-2 had 2 fingers which
made it a gripper basically. This permits it to try and press
fastens or hold triggers. A residue verification and
sprinkle confirmation system was created and was
acknowledged utilizing o-rings, fluid gaskets, fixed
orientation, and silicon seals. A cooling instrument was
additionally evolved in lieu with the residue/sprinkle
proof system primarily for the chest module as it houses
numerous electrical parts and the batteries. The robot
makes some functional memories of 120 minutes.
 III. METHODOLOGY
A. DEVELOPMENT SEQUENCE
The advancement cycle can be generally partitioned into
two primary areas. The principal area decides the
fundamental necessities for the complete framework,
which must be known before the plan cycle. This stage
incorporates fundamentally two emphases: In the main
emphasis, the kinematics of the robot is determined by the
movement space of the robot and the kinematics again
must be describable to be controllable. In the subsequent
cycle, the control idea for the robot and the overall
opportunities for working the joints are acclimated to the
prerequisites for the ideal elements of the robots. The
subsequent area is the real plan measure. The grouping in
which the modules are created is controlled by their
situation in the sequential kinematics of the robot. This
implies that for example in the arm, first the wrist, the
elbow joint and afterward at long last the shoulder joint
are planned[2].
Geography enhancement is utilized for the assurance of
the essential format of another plan. Another still up in the
air dependent on the plan space accessible, the heaps,
materials and other mathematical requirements. The
standard plan in geography improvement is regularly to
limit the consistency compared to expanding the solidness
utilizing a mass requirement for a given measure of
material. static structural analysis and modal analysis
made the base of compliance optimization.
B. ARTIFICIAL SKIN
To cover the complete body of humanoid robot a unique
counterfeit skin is presented. It gives pressure analysis and
shape information about the touched surfaces in-between
robot and its surrounding.The system relies upon a cross
part of sensors interconnected to shape an organized
development. Each sensor has 12 capacitive taxels, has a
three-sided shape and is maintained by a versatile
substrate to acclimate to smooth twisted surfaces. Three
exchanges ports set at the edges of each sensor sides grant
correspondences with coterminous sensors. The material
assessments are sent off embed microcontroller sheets
using successive vehicle correspondence joins. The
structure can adaptively diminish its spatial objective,
further fostering the response time. These components are
incredibly useful for distinguishing the primary contact
rapidly, at a lower spatial objective, and a while later
addition the spatial objective in the area of contact for
precise changing of the contact pressure assignment.
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Fig 1. A deformable conductive ground plane is presented
and the impact of contact pressure is a difference in circuit
capacitance [3]
C. THE BI-PED LOCOMOTION
The bipedal design is quite possibly the most adaptable
one for the work of strolling robots in the climate of
people. It has preeminent qualities in obstruction aversion
and similarity in functions as human substitutes. Be that as
it may, the elements included are exceptionally non-direct,
perplexing and unsound [4].
Step cycle is the timeframe between any two
indistinguishable occasions in the strolling cycle. Walk
cycle could be partitioned into a few occasions and
congruity between every occasion ought to be kept up
with. Position and swing are occasions of the step cycle.
Position is the occasion when the foot is in touch with the
ground (around 60 % of the step cycle) .Swing is the
occasion when the foot is noticeable all (around 40 % of
the stride cycle).Humanoid swing foot movement ought to
be quicker than the human one altogether not to fall while
strolling. This is accomplished by expanding the joint
speeds during the swing occasion. While strolling, the
human leg keeps the laws of rearranged pendulum which
is an exaggerated circle.
The powers following up on a walker can be isolated in
two classifications: 1) powers applied by contact and 2)
powers communicated without contact (gravity and,
likewise, latency powers). The CoP is connected to the
previous, and the ZMP to the last mentioned [5].
ZMP is characterized as the point P on the ground where
the net snapshot of the inertial and gravity powers has no
part along the tomahawks corresponding to the ground
[2]. Or it can likewise be characterized as the point on the
ground where the tipping second following up on the
biped, because of gravity and idleness powers, rises to
nothing, the tipping second being characterized as the part
existing apart from everything else that is unrelated to the
supporting surface [5].
Raj et al. related the joint directions of biped robots for
headway with the assistance of BAM calculation. The
Value of energy work which is consistently negative
regarding pair of weight which assisted to erase the bogus
direction from the informational collection. Two robot
sets were utilized to do the analysis which is Nao and
 HOAP2. The one kind of tactile information can connect
with another to give stable biped movement and
subsequently the procedure decreases the intricacy of
motion and expands security [6]
D. ADJUSTING THE HUMANOID ROBOT
As a model during the single help stage, we consider the
altered pendulum model with adaptable connection, since
the legs of a humanoid robot are somewhat long and they
are sequentially associated with a consistent power force
sensor at the ankle. Some specialists attempt to plan an
ideal ZMP direction first and discover an abdomen or hip
movement to acknowledge it utilizing loads of various
calculations[7]. Then again, different specialists attempt to
get a hip movement with smooth direction first. From that
point onward, they adjust the hip direction iteratively to
fulfill the ZMP limitations by utilizing a thorough inquiry
calculation strategy. At the point when we need to figure
the ideal ZMP direction, it is in reality difficult to think
about exact data of robot dynamic boundaries like mass,
area of focus of gravity, snapshot of dormancy of each
connection, and so on. Truly, the determined ZMP
direction as a rule contains the deviation from the genuine
ZMP direction. Subsequently, it is important to alter the
recommended joint direction dependent on the genuine
ZMP determined from the power/force sensor
incorporated with the underside of the foot. [8,9].
Direction replaying-Prepares a joint-movement direction
in advance, and applies it to the genuine robot with a little
on-line adjustment. This strategy isolates the issue into
two sub-problems, in particular, arranging and control.
Real-time age: Generates a joint-movement in real-time,
taking care of the current state of the framework in
accordance with the pre-given objective of the movement.
This technique executes planning and control in a bound
together way.
Despite the fact that real-time age is more promising than
direction replaying from the perspective of high mobility,
they usually experience the ill effects of a lot of
calculations. Real-time age would expect improvements to
conquer the trouble [10].
E. PUSH RECOVERY
We need to get what makes humanoids fall, and how can
they be dealt with to keep away from it. Aggravations and
displaying mistakes are potential supporters of falling. For
little aggravations, just acting like a modified pendulum
and applying a remunerating force at the lower leg can be
sufficient. As the unsettling influence increments, in any
case, a greater amount of the body must be utilized.
Twisting the hips or swinging the arms makes an extra re-
establishing force. At long last, if the aggravation is too
huge, the best way to prevent falling is to make a stride.
Vukobratovic, et.al.[11] was quick to apply the idea of the
ZMP, or zero second point, to biped equilibrium.
Criticism linearizing control of a straightforward double
inverted pendulum model utilizing lower leg and hip
forces was utilized by Hemami, et.al. [12]. Venturing to
stay away from fall was additionally concentrated by
Goddard, et.al. [12] utilizing input control of processed
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requirement powers obtained from Lagrangian elements.
Current bipedal headway research has been intensely
impacted by Kajita, et.al. What's more, their Linear
Inverted Pendulum Model (LIPM). Semwal, et.al [13]
tried to outline the issues of tracking down the most ideal
walk for a biped. The previously noticed outcome showed
the force and capability of crossover framework. The
work did in the paper is the initial phase toward proficient
devices taking care of such kind of issues. They had
fostered a natural propelled regulator for humanoid walk.
We investigate various models and procedures utilized for
humanoid balance. There are three essential systems:
1) CoP Balancing (i.e lower leg technique)
2) CMP Balancing (i.e hip technique)
3) Stepping (i.e change-of-support technique)
For the most part, these systems can be utilized
successively through and through, progressing to the
following if the current methodology is inadequate.
Fig.2. In this green dot is for center of mass, pink dab
is for center of pressure and voilet arrows are for
reaction force. 1. COP Balancing i.e Ankle Strategy 2.
CMP Balancing i.e. Hip Strategy and 3. Step-out [14]
1) COP BALANCING
The easiest adjusting system which utilizes lower leg
force to apply a re establishing power, while different
joints are fixed. This is regularly alluded to as the "lower
leg procedure". The area of the CoP is relative to lower
leg force, and hence the cutoff points on the situation of
the CoP compare as far as possible at the lower leg.
2) CMP BALANCING
The CMP is equivalent to CoP on account of zero second
with regards to the focal point of mass. For the lower leg
procedure, this is consistently the situation. Nonetheless,
humanoids have numerous inward joints, especially the
middle and arms that permit them to apply a force about
the CoM. For a non-zero centroidal second, the CMP
moves past the edge of the foot.
3) STEPPING
For much bigger unsettling influences, no measure of
body twisting will bring about balance recuperation. For
this situation, it is important to make a stride. Making a
stride moves the help region to either the region between
the back leg impact point and the forward leg toe (twofold
help) or the region under the new position foot (single
help). Since a bigger unsettling influence requires a bigger
 reestablishing power, this for the most part prompts bigger
advances. Nonetheless, the area of the best foot situation
is likewise influenced by kinematic requirements and
effect elements.
Semwal et. al. [15] has tended to the strolling issue of
humanoid robots utilizing the profound learning models,
in particular, ANN, ELM, and DNN. To accomplish the
goal, right off the bat, six distinctive Walking exercises
were investigated for example Lively Walk, Normal
Walk, Very Slow Walk, Medium Walk, Jogging, Fast
Walk. From these exercises they have gathered
information for 25 subjects utilizing 6 degree IMU sensor
and portable based accelerometers. In the following stage
joint directions Patterns of hip, lower leg, knee, knife, foot
and thigh were analyzed for five strolling exercises. The
Accuracy accomplished was 87.84%, 88%and 92%
utilizing ANN, ELM and DNN individually. It was found
that DNN is the most appropriate profound learning model
for various strolling exercises.
F. RELATIONSHIP TO INVERTED PENDULUM
Human bipedal walking can be depicted as subbing
examples of pendulum and turned around pendulum
developments. During a phase, the leg that isn't
associating with the ground clears forward in a pendulum
development. In the meantime, the leg that interfaces with
the ground stays in a somewhat long position while the
body vaults over in a changed pendulum development, a
kind of directional falling. The overall leg then associates
with the ground while the somewhat long leg leaves the
ground and the cycle is rehashed[16]. Forward active
energy is consistently exchanged with gravitational
possible energy, with energy recuperation emerging
primarily from pendulum dynamics[17]. In separation to
walking, running does exclude a changed pendulum stage
anyway rather uses fast leg speed increment to achieve
fleeting forward ballistic development. Each progression
in running components three phases: the assistance stage,
during which the foot contacts the ground and the leg
flexes at the knee joint, the drive stage, during which the
leg connects at the knee joint, and the recovery stage,
during which the foot passes on the ground and the hip
goes to drive the leg forward. Regardless of the
development of the legs, basic chest region development
is incorporated likewise to stay aware of rotational
robustness.
Fig 3: Motion of the legs, significant upper body motion is
involved as well to maintain rotational stability [17]
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G. THE CORNELL WALKER AND PASSIVE-DYNAMIC
WALKERS
McGeer in 1990 fostered a basic two-leg instrument with
three levels of opportunity - two at the knees and one at
the hip - that could stroll down a slight decay with a
shockingly human walk. The gadget didn't utilize
actuators, sensors, or control plans, however rather
depended on gravity power and the substituting pendulum
and altered pendulum movements of its two legs to push
ahead [18,19].
H. OPEN SOFTWARE PLATFORM FOR BIPEDAL
ROBOT
 V-rep
 Webtos
 Robot Operating System ( RoS)
 CoppeliaSim
 PyBullet
IV. CONCLUSIONS
The current work has addressed a subset of the large
number of development and working of humanoid robot
technology. Like how it started and what are the different
inventions in this field. Different concepts and
technologies utilized are discussed. In today's world
artificial intelligence being at priority and with the help of
this humanoid robotics in the coming many years, will
without a doubt turn out to be increasingly become more
popular. In contrast to some other results of human
designing, humanoid robot technology may gradually
obscure the line between how people associate with their
machines and how they connect with one another. With
the help of industrialization of this technology the
economy may go up and services will become easier for
humans.
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