Sensors and actuators for 'humanoid' robots

Though much research is still necessary before a personal robot with anthropomorphic features becomes a full reality, accessible and appealing to the general user, present technology is able to offer many solutions to the different problems arising in the development of sensors and actuators, which are a key factor in the achievement of the final goal. However. the challenge of obtaining a humanoid robot combining adequate technical performance with a 'behavior' appealing for a real 'companion' to the human user requires a truly interdisciplinary effort involving not only technical disciplines, but also the contribution of human sciences. This paper presents the motivations for the development of sensors and actuators for humanoid robots, with particular emphasis on service robotics and on the concept of a personal robot. A brief survey of existing technologies is reported and a few examples of present implementations are described. We also present the main features of a real personal robot whose technical and aesthetical characteristics are purposively designed to match those desirable for a 'humanoid' robot.