Humanoid Robots since Pepper
Elon Musk and his team at Tesla Inc. recently showcased their vision of the future at their event, We, Robot. The event, which took place on the 10th October in Los Angeles, California, introduced guests to a fleet of autonomous vehicles including models called Robotaxi and Robovan, and robots, specifically the Tesla Bot called Optimus.
Guests could marvel at the humanoid robots, who played a full part in the event, socialising, dancing, chatting to guests and even serving drinks. Their abilities are not unprecedented (and questions have been raised over whether humans were controlling the robots remotely), but nevertheless the effect was very impressive. Musk has stated that these robots will potentially be available to companies to support workforces as early as 2026. The long-term goal he outlined was that the Optimus robots could eventually be deployed in homes to assist with day-to-day errands and miscellaneous tasks - as well as providing companionship: "It can be a teacher, babysit your kids, it can walk your dog, mow your lawn, get the groceries, just be your friend, or serve drinks. Whatever you can think of, it will do."
The capabilities of the Optimus robots presented during the evening showed notable advancements in humanoid robot technology with smooth, fluid, human-like movement and generally seamless interaction with humans. However Tesla has faced criticism from some sources including Bloomberg and Techcrunch, who reported claims that the conversations the Optimus robots held with guests were remotely aided by humans. Tesla has yet to publicly comment on these claims.
The robotics industry continues to develop the capabilities of its products at a remarkable rate, with advances that bring the day when robots will work side-by-side with humans in homes and offices closer and closer. Below we take a look at some of the most notable humanoid robots from the past decade.
Many of our regular readers and clients will be aware that, back in 2016, we gained a new honorary member of our team, Pepper robot. Pepper, the humanoid robot developed by Aldebaran and marketed by Softbank Robotics, joined us after catching the eye of our Creative Director, David Graves, when he attended the robotics event 'Innorobo' in Paris. We purchased the robot for development and exhibition purposes, and found that it made a popular addition to the GWS office as well as a popular exhibit at business shows, and led us to set up GWS Robotics.
Since the introduction of Pepper, the capabilities of robots have advanced even further (we’re sure some of you will have seen the video from robotics company Boston Dynamics of their Atlas robots doing Parkour). Whether in terms of movement, human-like facial expressions or conversational ability and knowledge, the humanoid robots we have seen since 2016 and their abilities have impressed and sometimes astounded us.
Below we've listed a selection of our favourite humanoid robots - ones that we feel are worthy of a place in robot history, and that show just how far things have come since we purchased Pepper.
Pepper Robot, SoftBank Japan
We start with the introduction of Pepper in 2016. Developed and manufactured by a French robotics company, Aldebaran, which had recently been acquired by SoftBank Robotics of Japan, Pepper was the first of its kind in that it was capable of recognising basic human emotions. Our 4 feet, 7-inch-tall new hire was able to change its behaviour to suit its conversations with colleagues and visitors, adapting much as a human would. Its wheelbase allowed it free movement in the office; and its big eyes and friendly face put almost everyone at ease. Our investigations into the capabilities of Pepper prompted us to develop a number of applications that could allow the robot to adopt a variety of customer-facing roles within retail, hospitality and education.
Humanoid Robots Since 2016
Sophia, Hanson Robotics
Sophia is a humanoid robot created by David Hanson of Hong-Kong based company Hanson Robotics. First activated on Valentine’s Day on the 14th February 2016, the feminine robot made an instant impression with her human-like appearance and advanced facial expression abilities exceeding those of previous humanoid robots the industry had seen.
Sophia is programmed to watch and recreate social behaviour and gestures, helping her uphold conversations in a natural-seeming style on a variety of predetermined topics, a skill she has been able to show off in a number of media interviews. Although her interactions are not always a completely flawless experience, her launch and special abilities certainly made waves in the industry. She was even granted citizenship in Saudi Arabia in what many saw as a skilfully engineered publicity stunt for both Hanson Robotics itself and the Middle Eastern country’s positioning as friendly to technological investment.
Hanson designed Sophia as a social robot for uses such as a companion for the elderly, a co-ordinator for large events, a customer service assistant, an aid in therapy services, and a learning tool in educational settings. So how exactly does she do it?
Her software is designed by Hanson Robotics. 70% of her source code is open-source. The cameras within her eyes use a computer vision algorithm to process what she sees, and her speech has been supported by a chat system called OpenCog since 2018. It was at this time that she was also given an upgrade enabling her to walk, whereas previously she had been little more than a talking head.
OceanOne, Stanford Robotics
OceanOne is an underwater humanoid robot developed by a team at Stanford University. At 5 feet long, the robot diver is not dissimilar to its human counterparts. The first diving robot of its kind, it was developed by the team with the aim of enabling the study of coral reefs deep in the Red Sea, at greater depths than it would be safe for any human diver to go.
Taking to the water in April 2016 for its first mission, OceanOne was to dive 100 metres below the Mediterranean to find the wreck of La Lune, the ship of King Louis XIV that had sunk in 1664. The vessel had remained unexplored; and many were eager to see the numerous artefacts that lay undisturbed on the sea bed. Using haptic feedback, OceanOne allowed human operators to experience the sense that they themselves were exploring the wreck. The mission was deemed a success, with OceanOne retrieving a medium-sized vase from the ship, this was the first item the bot had salvaged from a wreck. Since this first mission, the team have continued to develop the robot, now called OceanOneK to reflect a five-fold increase in the unit’s diving depth capability from the initial 656 feet (approximately 200 metres) to 1 kilometre. OceanOneK continues to dive and explore where humans can’t, and has more recently explored a sunken submarine, a Roman ship and a World War II aircraft.
ARMAR-6, KIT Centre
ARMAR-6 is a humanoid robot developed by Professor Tamin Asfour and his team as the Karlsruhe Institute of Technology in 2018. Designed for assistant purposes within industrial settings, it has a humanoid shape, a wheelbase for movement, and the ability to use tools designed for humans.
ARMAR-6 is the 6th generation of its original design, and unlike other robots designed for one specific use in industrial settings, it has the ability to adapt to different roles and situations, and to work collaboratively. AI capabilities allow it to learn new motion skills from watching humans; and these skills are then refined upon further repetition. It can also observe and act upon human activities in its vicinity, for example by offering help when needed. A telescopic torso allows for an increase in height depending on the task; and the bot is considerably stronger than typical humanoid robots designed for social robots, as shown by its ability to lift a weight of 10kg per hand. Its movement and joints are specially designed to allow for the precision needed for working effectively on a wide range of tasks in an industrial setting.
Ameca, Engineered Arts
Ameca is a robot developed and manufactured by UK based company Engineered Arts. The team in Falmouth, Cornwall first revealed their creation in December 2021; and Ameca made her first public appearance at the Consumer Electronics Show (CES) in Las Vegas in 2022.
Ameca is designed with the primary objective of being a platform used for the development of robotics technologies. Using Ameca, Engineered Arts want companies to test and explore the possibilities of AI and machine-learning systems. She can also be used in customer-facing situations or events to entertain guests. She currently doesn’t have the ability to walk, but Engineered Arts plan to develop this capability in the future. Hardware upgrades such as this are made easier by her modular design.
Beomni, Beyond Imagination
The Beomni humanoid was also debuted at CES 2022. The Beyond Imagination-designed robot offers full remote human control via the use of a VR headset and gloves. It was also eqipped with an AI brain, meaning that over time Beomni can learn and take on some tasks and skills autonomously.
Beomni is the vision of Harry Kloor, chief founder of Beyond Imagination. In the first instance, he sees the robots being used to support the elderly. Family members could remotely control the bots and help with day-to-day activities. Rather than a walking humanoid bot, Beomni moves on wheels. The team wanted to focus on the use of robotic hands and arms, ensuring that these would be capable of precision-demanding tasks that could aid the end-user. Kloor also visualises the bots being used by doctors or nurses remotely to enable them to work in multiple locations from one initial base.
Apollo, Apptronik
In 2023, Apptronik, a company launched out of the Human Centered Robotics Lab at The University of Texas, unveiled their new humanoid robot, Apollo. From their inception in 2016, they had dabbled in the development of robotic components, ranging from an upper body humanoid in 2020 to a full electric humanoid in 2022.
Their next challenge was a bipedal humanoid that would be used to support workforces across industry. With this purpose in mind, Apollo was created. At 1.7 metres tall, with a weight of 73kg, the bot is not dissimilar in size to a human. It is designed as a general-purpose robot, with initially suggested uses in manufacturing and logistics. It has a modular design, meaning that it can either be mounted for use of just its stationary torso, or completely mobile in its full form. Apollo has a battery runtime of four hours, but is not limited to this period as the batteries are interchangeable. The bot can also be plugged in to charge while in operation if the nature of the task safely allows for this.
Phoenix, Sanctuary AI
In May 2023, Canadian based company Sanctuary AI revealed its sixth-generation general-purpose humanoid robot, Phoenix. Phoenix is powered by Carbon™, an innovative AI control system that Sanctuary AI claim enables Phoenix to complete a number of workplace tasks and gives the bot human-like intelligence.
Phoenix stands at 5 feet 7 inches tall, and has a maximum walking speed of 3 miles per hour. Its robotic hands have been designed with 20 degrees of freedom and are advanced enough to compete with human dexterity. The Carbon™, a “cognitive architecture and software platform”, behind Phoenix is what Sanctuary AI think sets this humanoid apart from others within the industry. The built-in software allows the bot to identify and act to undertake jobs just as a person would, we can understand the vision Sanctuary AI have in terms of these general-purpose robots joining workforces when companies struggle with staff levels due to shortages or an inability to complete particularly demanding or dangerous jobs. Weather conditions and fatigue can impact on the efficiency of a human carrying out a labour-intensive job. In these situations, a robot could be drafted in as cover while the humans take a break to ensure work continued.
ERICA, Osaka and Kyoto Universities and the Advanced Telecommunications Research Institute International
In 2015, ERICA was unveiled to the world. She is a 23-year-old feminine humanoid so realistic in design that you may struggle at first glance to tell if she was human or robot. ERICA is the result of a joint effort between Osaka and Kyoto Universities and the Advanced Telecommunications Research Institute International.
Embodying similar qualities to Hanson’s Sophia, ERICA is extremely life-like and can hold conversations. Her creator Hiroshi Ishiguro, has said of the android that she is the “most beautiful and intelligent”. He explained: “I used images of 30 beautiful women, mixed up their features, and used the average for each to design the nose, eyes, and so on…that means she should appeal to everyone”. Ishiguro, who is famous in the robotics space for also creating a number of other robots and androids, developed her as a research platform through which to gain further knowledge on communication between robots and humans, taking into consideration factors such as voice, gestures, eye contact, expressions and touch.
Digit, Agility Robotics
First revealed to the public in 2019, Digit is the second robot produced to date by Agility Robotics. It follows a bipedal platform called Cassie that was released in 2016. The Oregon-based company has continued to develop Digit over the years, with the latest generation launching in 2023. Digit is available for purchase.
The development of Digit has come a long way since the introduction of Cassie, and the capabilities the humanoid now possesses are quite something to marvel at. Digit is specifically designed for use within an industrial setting, to aid the workforce or replace it in certain roles. Agility, along with numerous other robotics companies, believe that the bots are the world’s answer to adapting to an aging population and to the decrease in birth rates in many parts of the world . Can robots take on jobs that humans no longer have the capacity to fill, in order for humans to continue to maintain their standard of living? It would seem that Digit is capable of doing so, with its ability to handle heavy goods, move and pack. Agility work directly with logistics and manufacturing companies as part of their Agility Partner Program (APPTM) in order to ensure that they continue to develop the bot with its originally envisioned purposes in mind, offering automation solutions to companies who could benefit.
Atlas Electric, Boston Dynamics
The all-new electric Atlas was revealed earlier in 2024 . Eleven years after the first unveiling of the original Atlas back in 2013 (even before our friend Pepper was on the scene), this is a big step for Boston Dynamics. With the company’s 30 years of expertise to lean on, they have created some of the most cutting-edge and impressive robots we’ve seen. From running, jumping and navigating Parkour courses, to turning door handles to let themselves out of rooms whose doors are closed, the abilities of the robots developed by this innovative company have broken new ground .
The development of this new generation of Atlas meant saying goodbye to the numerous hydraulic versions that had come before. The electric version will be stronger and have a bigger range of movement. The hydraulic version, although ultimately powered by a motor, is hydraulically actuated via pressurised fluid. Electrical systems tend to be less complex and easier to fix than those of hydraulic ones. Boston Dynamics believe Atlas Electric is now ready for deployment in real-life industry environments. Partnering with Hyundai, the Atlas team will be able to test the robot’s capabilities within a specially-designed manufacturing setting Hyundai are committed to building. This will be the first big partnership Boston Dynamics will undertake in connection with Atlas, with more expected to follow from other explorative customers with which they will join forces . In the light of the already-successful roll-out of their Spot and Stretch models , and their adoption by companies such as DHL and The RATP Group (Autonomous Parisian Transportation Administration), we have no doubt that Atlas will be just as successful.
Figure 02, Figure AI Inc
Another more recent release, in August 2024, was Figure 02, the second-generation humanoid from Figure AI Inc., a Californian-based company renowned for the incredible speed of development it has achieved within robotics .
Founded in just 2022, the company claims that its latest release brings it significantly closer to commercialising the humanoid for industrial settings, placing it similar competitive territory to robotics companies with many more years of experience. Perhaps investment and a firm partnership with Open AI has helped Figure AI on its way.
With Elon Musk being a key founder of OpenAI and working on his own Tesla bot Optimus, we wonder whether Figure’s developments using OpenAI gives him a conflict of interest, or whether he is happy to have put his eggs in more than one basket in the race to deliver a fully all-singing, all-dancing, all-working humanoid.
Figure have shown how much of a serious contender they are in the scale of the advances from their first release to their second. Figure 02 offers a more pleasing design aesthetic, with a sleek matte black finish to the chrome metal used, while the cabling has been hidden within the bot’s armour and the battery capacity has been increased by 50%. The robot can also complete tasks in a real-world setting completely autonomously. We think this is one to watch.
Optimus, Tesla
The Optimus Gen 2 that was revealed by Tesla at the We, Robot event was the second generation of this line from the company. Musk first teased with the concept in 2021 by putting on a display of dancers dressed in bodysuits in imitation of robots; and 2022 saw the first prototype unveiled. This has been another relatively quick turnaround, perhaps partly thanks to the harnessing of the technology of Tesla vehicles and its application to robots that walk.
Optimus 2 has a high level of flexibility. It can move at a speed of 5 miles per hour, and can carry 45 pounds (about 20 kg) in weight. Musk, like many other of the leading robotics company heads, has said that the bot will compensate for the shortages of labour that the future world is expected to face. We’re still unsure of the extent of this robot’s speech capabilities, however, as we have noted that Tesla has recently faced criticism over the credibility of its performance in a demonstration attended by the press.
Other Robot Releases Since Pepper
Manav, A-SET Training and Research Institutes
The humanoid robot Manav was developed by Diwakar Vaish of A-SET Training and Research Institutes. It made its first appearance at the IIT-Bombay Techfest 2014-2015 in India. What sets it apart from all the other robots in the article is that it stands at just 2 feet tall. This, however, does not impact on its capabilities. Manav can walk, dance and recognise depth and perception.
Nadine, Nanyang Technological University of Singapore
The life-like Nadine robot was created by Professor Nadia Thalmann from the Nanyang Technological University of Singapore in 2015. Her human-like appearance is inspired by her creator, with the robot mirroring the looks of Thalmann.
Ribo, RoboSUST
Ribo was brought to life by RoboSUST, a robotics group from the Shahjalal University of Science & Technology in Bangladesh. It was the first robot to speak Bengali, and was revealed to the public in 2015 at a Science Fiction Festival.
Junko Chihira, Toshiba
The trilingual android Junko Chihara was developed by Toshiba and was first shown to the public in 2015. That appearance, which was at Aqua City Odaiba in Tokyo, left guests amazed at the abilities of the robot to engage them in conversation.
Indro, Santosh Vasudeo Hulawale
Indro was ready for the public in 2016 after a 5-year period of development by creator Santosh Vasudeo Hulawale of India. It was a home project making ecologically conscious use of waste materials, so no 3D-printed parts are used.
Sanbot, Qihan Technology Co. Ltd
Sanbot was produced by robotics and AI company Qihan Technology Co. Ltd, and was first revealed in 2016 in Berlin. This version was later known as Sanbot Elf and had the ability to assist customers. It was used at the Shenzhen Bao’an International Airport to aid in passenger service. Qihan Technology is a China-based company that has made an additional two generations of the Sanbot robot.
Eve, 1x
Eve is the humanoid robot from 1x, a company with locations in both Silicon Valley and Norway. Eve was first introduced in 2017 and continues to be developed. Eve is now available for purchase, as a singular unit or a fleet.
Rashmi, Ranjit Shrivastava
After a two-year development period, Rashmi, an Indian lip-syncing robot, was introduced in 2018. A home project from Ranjit Shrivastava, the bot can show 83 facial expressions and speak four languages.
FEDOR, Android Technics
FEDOR is a humanoid robot created in 2015 by Russian company JSC NPO Android Technics. It can be controlled remotely, and will replicate the movements of its operator. First established for use on rescue operations, it also travelled to the international Space Station for experimental purposes.
Surena IV, University of Tehran
Shown in 2019, Surena IV is the fourth generation of the bot from a team at the University of Tehran. Worked on by a team of more than 50, the new robot has 43 degrees of freedom. This version sees much higher dexterity in the robotic hands, making it able to grasp objects with great precision.
AiDa, Engineered Arts
AiDa is a robot from Engineered Arts, the same company that delivered a previous robot called Ameca. The Cornish-based team designed AiDa as an AI art generator who loves to paint, draw and sculpt. Having been equipped with a drawing arm from the outset, in 2022 she received a new arm that even allowed her to paint using a palette.
Alter 3, Alternative Machine Inc
The third generation of this robot from Japan based company Alternative Machine Inc, Alter 3 was released in 2019. The specific use of this line of robots is to gauge human reaction to an autonomous bot. In appearance, only some of the robot is fitted with prosthetic skin. Apart from the face, neck, and arms up to the elbow, the rest of the body is left exposed.
Alex, Promobot
Another robot who was modelled on the looks of his creator is Alex from Russian company Promobot. Unveiled in 2019, Alex bears a striking resemblance to Promobot’s co-founder Alexei Yuzhakov. Alex made his mark reading the afternoon news on TV channel Russia-24.
KIME, Macco Robotics
In 2019, Macco Robotics introduced audiences to KIME, a fully functioning robot shop, which is able to prepare and sell a range of food and drinks. The company, which is headquartered in Spain, wants to revolutionise the food and drink industry with its offering.
ARI, Pal ROBOTICS
ARI, the entertainment robot, comes from Pal Robotics in Barcelona. Unveiled in 2020, it is a social robot with the purpose of assisting customers and carrying out extensive research.
Robot Shalu, Dinesh Kunwar Patel
Robot Shalu is a homemade robot developed by Dinesh Kunwar Patel, a teacher of computer science in Mumbai. Gaining inspiration from films and other robotics companies, Patel produced his robot as part of a three-year project. The robot was built using waste materials.
Grace, Awakening Health
The humanoid robot Grace comes from a collaboration between Hanson Robotics (who also created Sophia) and AI developer Singularity Studio. Awakening Health, the two companies’ new joint project, wanted to create a robot specifically for use as a healthcare assistant.
Walker X, UBTECH
Walker X, a service robot from Chinese manufacturer UBTECH, was revealed in 2021. This offering has the ability to navigate a variety of terrains, excellent hand-eye coordination, and autonomous path-planning, to enable it to serve as a home assistant.
