1. Presented By: Som Mishra
(Electronics & Communication Engineering)
3rd Year
BIET Jhansi
Under Guidance Of:
Dr. D.K.Srivastava
(Associate Professor)
Deptt. Of Electronics & Comm. Engg.
BIET Jhansi

2. CONTENTS
1. Introduction
2. Purpose
3. Sensors
4. Actuators
5. Wheeled Humanoid Robot
6. Biped Humanoid Robot
7. Advantages
8. Disadvantages
9. Conclusion
10. References

3. INTRODUCTION
 A humanoid robot is a robot that resembles human both in
appearance and behavior.
 In general, humanoid robots have a torso, a head, two arms,
and two legs.
 Leonardo da Vinci designed and built the first known
humanoid robot in 1495.

4. PURPOSE
 Initial aim of humanoid research was to build better orthosis
and prosthesis for human beings.
 Humanoid robots with artificial intelligence algorithms could
be useful for distant space exploration missions.
 Humanoid robots are being developed to perform dangerous
jobs and other human tasks like personal assistance etc.

5. SENSORS
Proprioceptive Sensors :-
 It senses the position, the orientation and the speed of the humanoid's body and joints.
 Humanoid robots uses –
 Accelerometers → To measure the acceleration.
 Tilt Sensors → To measure inclination.
 Force Sensors → To measure contact force with environment.
 Position Sensors → To indicate the actual position of robot.

6. SENSORS
Exteroceptive Sensors :-
 It measures the proximity of objects in relation to the robot’s frame of
reference.
 Humanoid robots uses –
Tactile Sensors → It provides data on what has been touched.
Vision Sensors → Recognizes objects and determines their properties.
Sound Sensors → To hear speech and environmental sound.

7. ACTUATORS
 These are the motors responsible for motion in the robot.
 Mainly rotary actuators are employed in humanoid robots.
 They can either be electric, pneumatic, hydraulic, piezoelectric or
ultrasonic.
 Hydraulic and electric actuators have a very rigid behavior and are used
with complex feedback control strategies.
 Electric actuators operates well at high speed and low load applications
while hydraulic actuators operates well at low speed and high load
applications.

8. ACTUATORS
 Piezoelectric actuators generate a small movement with a high force capability when
voltage is applied.
 They can be used for ultra-precise positioning and for generating and handling high
forces or pressures in static or dynamic situations.
 Ultrasonic actuators are designed to produce movements in a micrometer order at
ultrasonic frequencies i.e. over 20 kHz.
 They are useful for controlling vibration, positioning applications and quick
switching.
 Pneumatic actuators operate on the basis of gas compressibility and are designed for
low speed and low or medium load applications.

9. WHEELED HUMANOID ROBOT
 ADVANTAGES
 Easy Locomotion
 Easy Design
 Higher Speed
 Easy Control
 DISADVANTAGES
 Need to modify the surrounding.
 Movement is possible only on flat floors.

10. BIPED HUMANOID ROBOT
 ADVANTAGES
 No need to change the surrounding.
 Exactly human like structure.
 Can move on any type of floor.
 Capable of climbing stairs.
 DISADVANTAGES
 Difficult locomotion.
 Complex design.
 Low speed.
 Complex control.

11. ADVANTAGES
 Never Complains.
 Can perform tasks faster, accurately, effectively and efficiently than
humans.
 Can work 24/7 without salary and food.
 Can perform exhaustive and repetitive jobs without getting bored.
 Can be used in research and rescue operations and for surveillance
purposes.
 Can also be used for entertainment purposes.

12. DISADVANTAGES
 Have no emotions.
 Need high power supply for operating.
 Need regular maintenance.
 High cost of manufacture.
 Not fully reliable or trustworthy.

13. CONCLUSION
 The majority of robots today, solve comfort problems but there are
exceptions.
 Robotics is still very costly and it requires a lot more research and
users to bring down the costs to a decent level.
 As the technology improves, there will be new ways to use robots
which will bring new hopes and new potentials.

14. REFERENCES
 K. Hirai,M. Hirose,Y. Haikawa and T. Takenaka,”The Development of Humanoid
Robot”, Proc. IEEE Int. Conf. on Robotics and Automation, pp. 1321-1326, 1998.
 http://en.wikipedia.org/wiki/Humanoid_robot.
 Brady, M., Holler Bach, J.M., Johnson, T., Lozano-Perez, T. and Mason, M.
(1982), Robot Motion: Planning and Control. MIT Press.
 Russell, R. A. (1990). Robot Tactile Sensing. Prentice Hall.
 Everett, H. R. (1995). Sensors for Mobile Robots: Theory and Application. AK
Peters.
 Craig, J. J. (1986). Introduction to Robotics: Mechanics and Control. Addison
Wesley.