SENSORS AND ACTUATORS FOR HUMANOID ROBOTS

Though much research is still necessary before a personal robot with a nthropomorphic features becomes a full reality, accessible and appeali ng to the general user, present technology is able to offer many solut ions to the different problems arising in the development of sensors a nd actuators, which are a key factor in the achievement of the final g oal. However. the challenge of obtaining a humanoid robot combining ad equate technical performance with a 'behavior' appealing for a real 'c ompanion' 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 developme nt of sensors and actuators for humanoid robots, with particular empha sis on service robotics and on the concept of a personal robot. A brie f survey of existing technologies is reported and a few examples of pr esent implementations are described. We also present the main features of a real personal robot whose technical and aesthetical characterist ics are purposively designed to match those desirable for a 'humanoid' robot.