18th IFAC Conference on Technology, Culture and International 18th IFAC Conference on Technology, Culture and International Stability18th IFAC Conference on Technology, Culture and International 18thStability IFAC Conference on Technology, Culture and International 18thBaku,Stability IFAC Azerbaidschan, Conference Septon Technology, 13-15, 2018 Culture and International StabilityBaku, Azerbaidschan, Sept 13-15, 2018 StabilityBaku,18th IFAC Azerbaidschan, Conference Septon Technology, 13-15, 2018Available Culture and online International at www.sciencedirect.com Baku, Azerbaidschan, Sept 13-15, 2018 Baku,18thStability IFAC Azerbaidschan, Conference Septon Technology, 13-15, 2018 Culture and International StabilityBaku, Azerbaidschan, Sept 13-15, 2018 Baku, Azerbaidschan, Sept 13-15, 2018 ScienceDirect Humanoid robots IFAC PapersOnLine Humanoid 51-30 (2018) robots220–225 HumanoidRobotainment robots HumanoidRobotainment robots HumanoidRobotainment robots Robotainment J.Humanoid Linert* and P. robots Kopacek*, J.Robotainment Linert* and P. Kopacek*, J.Robotainment Linert* and P. Kopacek*, J. Linert* and P. Kopacek*, *TU Wien, Institute for Mechanics and Mechatronics, IHRT *TU Wien, InstituteJ. Linert for Mechanics* and P. Kopacek*, and Mechatronics, IHRT *TU Wien,Favoritenstrasse InstituteJ. Linert for 9 Mechanics-*11/E325 and P. Kopacek*,A6, and A Mechatronics, – 1040 Wien. IHRT *TU Wien,Favoritenstrasse Institute for 9 Mechanics-11/E325 A6, and A Mechatronics, – 1040 Wien. IHRT (e-mail: [email protected],Favoritenstrasse 9-11/E325 A6, [email protected]) A – 1040 Wien. (e-mail:*TU [email protected], Wien,Favoritenstrasse Institute for 9 Mechanics-11/E325 A6, and [email protected]) A Mechatronics, – 1040 Wien. IHRT (e-mail:*TU [email protected], Wien, Institute for Mechanics and [email protected]) Mechatronics, IHRT (e-mail: [email protected],Favoritenstrasse 9-11/E325 A6, [email protected]) A – 1040 Wien. (e-mail: [email protected],Favoritenstrasse 9-11/E325 A6, [email protected]) A – 1040 Wien. Abstract: The field of humanoid robots is currently overwhelming. Therefore it is necessary to give an Abstract: The field(e- mail:of humanoid [email protected], robots is currently overwhelming. [email protected]) Therefore it is necessary to give an overviewAbstract: by The arranging field of thesehumanoid robots robots in groups. is curre Untilntly now overwhelming. there was only Therefore a first trialit is fromnecessary the commercial to give an overviewAbstract: by The arranging field of thesehumanoid robots robots in groups. is curre Untilntly now overwhelming. there was only Therefore a first trialit is fromnecessary the commercial to give an sideoverview in 4 categories by arranging (Professional, these robots Amateur, in groups. Toy Until and nowCost thereOriented was Robotsonly a ).first trial from the commercial sideoverviewAbstract: in 4 categories by The arranging field (Professional, of thesehumanoid robots Amateur,robots in groups. is curreToy Until andntly nowCost overwhelming. thereOriented was Robotsonly Therefore a ).first trialit is fromnecessary the commercial to give an overviewsideAbstract: in 4 categories by The arranging field (Professional, of thesehumanoid robots Amateur,robots in groups. is curreToy Until andntly nowCost overwhelming. thereOriented was Robotsonly Therefore a ).first trialit is fromnecessary the commercial to give an Theside presentin 4 categories work tries (Professional, to propose aAmateur, meaningful Toy classification and Cost Oriented of actually Robots available). humanoid robots being Thesideoverview presentin 4 categories by work arranging tries (Professional, tothese propose robots aAmateur, meaningfulin groups. Toy Until classification and nowCost thereOriented of was actually Robotsonly availablea ).first trial humanoid from the robotscommercial being stableThe present at least work for sometries totime propose from a technologicalmeaningful classification viewpoint. Fourof actually groups available are generated humanoid according robots to being their stableTheside presentin at 4 leastcategories work for sometries (Professional, totime propose from aAmateur, technologicalmeaningful Toy classification and viewpoint. Cost Oriented Fourof actually groups Robots available are). generated humanoid according robots to being their mainstable tasks at least Robotainment for some time (“Fluffy”) from a technological, Infosistance viewpoint.(“Hero”), Rescue Four groups (“Buddy”) are generated and AI (“Mr.Brain”). according to their mainThestable present tasks at least Robotainment work for sometries totime propose(“Fluffy”) from a technologicalmeaningful, Infosistance classification viewpoint.(“Hero”), Rescue Fourof actually groups (“Buddy”) available are generated and humanoid AI (“Mr.Brain”). according robots to being their stablemainThe present tasks at least Robotainment work for sometries totime propose(“Fluffy”) from a technologicalmeaningful, Infosistance classification viewpoint.(“Hero”), Rescue Fourof actually groups (“Buddy”) available are generated and humanoid AI (“Mr.Brain”). according robots to being their Thesemain tasks sample Robotainment groups involve (“Fluffy”) 14 , Infosistancespecies, which (“Hero”), are presently Rescue (“Buddy”) available andand AI produced (“Mr.Brain”). by some mainstableThese tasks atsample least Robotainment for groups some timeinvolve (“Fluffy”) from 14a technological , Infosistancespecies, which viewpoint.(“Hero”), are presently Rescue Four groups (“Buddy”) available are generated andand AI produced (“Mr.Brain”). according by to some their UniversitiesThese sample and groups Companies. involve Exemplarily 14 species, they whichare classified are presently into the givenavailable groups. and Further produced developmen by somets mainTheseUniversities tasks sample Robotainment and groups Companies. involve (“Fluffy”) Exemplarily 14 , Infosistancespecies, they whichare (“Hero”), classified are presently Rescue into the (“Buddy”) givenavailable groups. andand AIFurther produced (“Mr.Brain”). developmen by some ts associatedUniversities with and artificial Companies. intelligence Exemplarily might they merge are thoseclassified groups, into still the keepinggiven groups. the main Further orientation developmen of theirts TheseUniversitiesassociated sample with and artificialgroups Companies. involveintelligence Exemplarily 14 mightspecies, they merge whichare thoseclassified are groups, presently into still the keepinggivenavailable groups. the and main Further produced orientation developmen by of some theirts aims.Theseassociated Thissample withmight artificialgroups be seen involveintelligence as the limitations14 mightspecies, mergeof which(any) those today’sare groups, presently classification still keepingavailable of thehumanoid and main produced orientation robots. Basedby of some their on Universitiesassociatedaims. This withmight and artificial Companies. be seen intelligence as theExemplarily limitations might they mergeof (any)are thoseclassified today’s groups, classificationinto still the keepinggiven ofgroups. thehumanoid main Further orientation robots. developmen Based of their onts theUniversitiesaims. results This somemight and “CostCompanies. be seen Oriented as theExemplarily Humaoilimitationsd Robotsthey of (any)are – classified COHR” today’s canclassificationinto be the identified given ofgroups. andhumanoid compared. Further robots. developmen Based onts associatedaims.the results This somewithmight artificial “Cost be seen Oriented intelligence as the Humaoilimitations mightd Robots mergeof (any) – those COHR” today’s groups, canclassification bestill identified keeping of theandhumanoid main compared. orientation robots. Based of their on aims.theassociated results This somewithmight artificial “Cost be seen Oriented intelligence as the Humaoilimitations mightd Robots mergeof (any) – those COHR” today’s groups, canclassification bestill identified keeping of theandhumanoid main compared. orientation robots. Based of their on Finallythe results ethical some and “Cost social Oriented aspects Humaoi of humanoidd Robots robots – COHR” will be canoutlined be identified and discussed. and compared. theaims.Finally results This ethical somemight and “Cost be social seen Oriented aspectsas the Humaoilimitations of humanoidd Robots of robots(any) – COHR” today’swill be canoutlinedclassification be identified and discussed. of andhumanoid compared. robots. Based on Finally ethical and social aspects of humanoid robots will be outlined and discussed. theFinallyKeywords© 2018, results ethicalIFAC: someIntelligent (Internationaland “Cost social Systems Oriented aspects Federation and Humaoi of Applications, humanoid ofd Automatic Robots robots Robots,– COHR”Control) will Costbe canHostingoutlined Orientation, be identified by and Elsevier discussed. Humanoid and Ltd. compared. All robots, rights reserved.Roboethics FinallyKeywords ethical: Intelligent and social Systems aspects and of Applications, humanoid robots Robots, will Costbe outlined Orientation, and discussed. Humanoid robots, Roboethics Keywords: Intelligent Systems and Applications, Robots, Cost Orientation, Humanoid robots, Roboethics FinallyKeywords ethical: Intelligent and social Systems aspects and of Applications, humanoid robots Robots, will Costbe outlined Orientation, and discussed. Humanoid robots, Roboethics Keywords Intelligent Systems and Applications, Robots, Cost Orientation, Humanoid robots, Roboethics Keywords: Intelligent Systems and Applications, Robots, Cost Orientation, Humanoid robots, Roboethics  In Fig.1 humanoid robots are mobile, legged robots which are Keywords1.: Intelligent INTRODUCTION Systems and Applications, Robots, In Fig.1Cost Orientation,humanoid robots Humanoid are mobile, robots, legged Roboethics robots which are 1. INTRODUCTION  usedIn Fig.1 for humanoidservice and robots toy tasks.are mobile, Furthermore, legged robotsdual arm which robots are 1. INTRODUCTION usedIn Fig.1 for humanoidservice and robots toy tasks.are mobile, Furthermore, legged robotsdual arm which robots are Robots are always1. frequentlyINTRODUCTION used as an example for canused befor seen service as anda combination toy tasks. Furof thermore,industrial dual and armhumanoid robots Robots are always1. frequentlyINTRODUCTION used as an example for canusedIn Fig.1 befor seen humanoidservice as anda robotscombination toy tasks.are mobile, Furof thermore,industrial legged robotsdual and arm humanoidwhich robots are MechatronicRobots are Systems.always frequently Currently theused field as ofan robotics example is veryfor canrobotsIn Fig.1 be but seenhumanoid because as a robotscombination of their are industrialmobile, of industrial legged applications robots and humanoidwhich they are MechatronicRobots are Systems.always1. frequentlyINTRODUCTIONCurrently theused field as ofan robotics example is veryfor canrobotsused befor butseen service because as anda combination oftoy their tasks. industrial Furof thermore,industrial applications dual and armhumanoid they robots are fastMechatronic growing. Systems.An overview Currently is shown the infield Fig. o 1.f robotics is very robotsassignedused for but serviceto becauseIndustrial and of toyRobots. their tasks. industrial Furthermore, applications dual arm they robots are fastMechatronicRobots growing are . Systems.alwaysAn overview frequently Currently is shown theused infield Fig.as o 1.fan robotics example is veryfor canassignedrobots be butseen to becauseIndustrial as a combination of Robots. their industrial of industrial applications and humanoid they are fastRobots growing are . alwaysAn overview frequently is shown used in Fig.as 1.an example for canassigned be seen to Industrial as a combination Robots. of industrial and humanoid fastMechatronic growing. Systems.An overview Currently is shown the infield Fig. o 1.f robotics is very assignedrobots but to becauseIndustrial of Robots. their industrial applications they are fastMechatronic growing. Systems.An overview Currently is shown the infield Fig. o 1.f robotics is very assignedrobots but to becauseIndustrial of Robots. their industrial applications they are fast growing. An overview is shown in Fig. 1. assigned to Industrial Robots.

Fig. 1 Categorization of Robots (Kopacek, 2018) Fig. 1 Categorization of Robots (Kopacek, 2018) CopyrightFig. 1 Categorization © 2018 IFAC of Robots (Kopacek, 2018) 220 CopyrightFig. 1 Categorization © 2018 IFAC of Robots (Kopacek, 2018) 220 Copyright2405-8963 © 2018,2018 IFAC (International Federation of Automatic Control)220 Hosting by Elsevier Ltd. All rights reserved. Copyright Fig. 1 Categorization © 2018 IFAC of Robots (Kopacek, 2018) 220 CopyrightPeer Fig. review 1 Categorization © under 2018 responsibilityIFAC of Robots of International (Kopacek, Federation 2018) of Automatic220 Control. Copyright10.1016/j.ifacol.2018.11.290 © 2018 IFAC 220 Copyright © 2018 IFAC 220

10.1016/j.ifacol.2018.11.290 2405-8963 18th IFAC Conference on Technology, Culture and International 18th IFAC Conference on Technology, Culture and International Stability18th IFAC Conference on Technology, Culture and International Stability18th IFAC Conference on Technology, Culture and International Baku,Stability18th IFAC Azerbaidschan, Conference Septon Technology, 13-15, 2018 Culture and International Baku,Stability18th IFAC Azerbaidschan, Conference Septon Technology, 13-15, 2018 Culture and International Baku,18thStability IFAC Azerbaidschan, Conference Septon Technology, 13-15, 2018 Culture and International Baku,Stability Azerbaidschan, Sept 13-15, 2018 IFAC TECIS 2018 18thStabilityBaku, IFAC Azerbaidschan, Conference Septon Technology, 13-15, 2018 Culture and International Baku, Azerbaidschan, Sept 13-15, 2018 Baku, Azerbaidschan, Sept 13-15, 2018 J. Linert et al. / IFAC PapersOnLine 51-30 (2018) 220–225 221 StabilityBaku, Azerbaidschan, Sept 13-15, 2018 Baku, Azerbaidschan, Sept 13-15, 2018 Humanoid robots Humanoid robots One of the most ambitious aims of robotics is to design an Main features of humanoid robots are: HumanoidRobotainment robots autonomous robot that could reach – and even surpass – HumanoidRobotainment robots human intelligence and performance in partially unknown,  biped walking HumanoidRobotainment robots  voice communication – speech recognition Robotainment changing, and unpredictable environments. J.Humanoid Linert* and P. robots Kopacek*, J.Robotainment Linert* and P. Kopacek*,  facial communication J.Robotainment Linert* and P. Kopacek*, Examples are Dual arm robots, cooperative robots, fully J. Linert* and P. Kopacek*, Therefore, humanoid robots need to have a torso with a head, *TU Wien, InstituteJ. Linert for Mechanics* and P. Kopacek*, and Mechatronics, IHRT autonomous mobile robots, snake robots, bioinspired, Nano-, *TU Wien, Institute for Mechanics and Mechatronics, IHRT two arms and two legs, although some forms of humanoid *TU Wien,Favoritenstrasse InstituteJ. Linert for 9 Mechanics-*11/E325 and P. Kopacek*,A6, and A Mechatronics, – 1040 Wien. IHRT Femto-, Atorobots. *TU Wien,Favoritenstrasse Institute for 9 Mechanics-11/E325 A6, and A Mechatronics, – 1040 Wien. IHRT robots may model only part of the body, for example, from (e-mail:*TU [email protected], Wien,Favoritenstrasse Institute for 9 Mechanics-11/E325 A6, and [email protected]) A Mechatronics, – 1040 Wien. IHRT (e-mail: [email protected],Favoritenstrasse 9-11/E325 A6, [email protected]) A – 1040 Wien. the waist up. Humanoid robots may also have a ‘face’, with (e-mail:*TU [email protected], Wien,Favoritenstrasse Institute for 9 Mechanics-11/E325 A6, and [email protected]) A Mechatronics, – 1040 Wien. IHRT Artificial Intelligence will be able to lead the robot to fulfill (e-mail: [email protected], [email protected]) ‘eyes’ and a ‘mouth’. (e-mail: [email protected],Favoritenstrasse 9-11/E325 A6, [email protected]) A – 1040 Wien. the missions required by the end users. To achieve this goal, Abstract: The field of humanoid robots is currently overwhelming. Therefore it is necessary to give an over the past decades scientists have worked on AI Abstract: The field(e- mail:of humanoid [email protected], robots is currently overwhelming. [email protected]) Therefore it is necessary to give an Main problems in humanoid robots are currently: overviewAbstract: by The arranging field of thesehumanoid robots robots in groups. is curre Untilntly now overwhelming. there was only Therefore a first trialit is fromnecessary the commercial to give an techniques in many fields, including: overviewAbstract: by The arranging field of thesehumanoid robots robots in groups. is curre Untilntly now overwhelming. there was only Therefore a first trialit is fromnecessary the commercial to give an overviewsideAbstract: in 4 categories by The arranging field (Professional, of thesehumanoid robots Amateur,robots in groups. is curreToy Until andntly nowCost overwhelming. thereOriented was Robotsonly Therefore a ).first trialit is fromnecessary the commercial to give an sideoverview in 4 categories by arranging (Professional, these robots Amateur, in groups. Toy Until and nowCost thereOriented was Robotsonly a ).first trial from the commercial 1. Perception and analysis of the environment  Each movement possibility (Degree of Freedom – overviewsideAbstract: in 4 categories by The arranging field (Professional, of thesehumanoid robots Amateur,robots in groups. is curreToy Until andntly nowCost overwhelming. thereOriented was Robotsonly Therefore a ).first trialit is fromnecessary the commercial to give an DOF ) is actuated on humans by muscles. In robotics at Theside presentin 4 categories work tries (Professional, to propose aAmateur, meaningful Toy classification and Cost Oriented of actually Robots available). humanoid robots being 2. Natural language processing Thesideoverview presentin 4 categories by work arranging tries (Professional, tothese propose robots aAmateur, meaningfulin groups. Toy Until classification and nowCost thereOriented of was actually Robotsonly availablea ).first trial humanoid from the robotscommercial being present each DOF must be realized by an electric stableThe present at least work for sometries totime propose from a technologicalmeaningful classification viewpoint. Fourof actually groups available are generated humanoid according robots to being their 3. Human interaction stableTheside presentin at 4 leastcategories work for sometries (Professional, totime propose from aAmateur, technologicalmeaningful Toy classification and viewpoint. Cost Oriented Fourof actually groups Robots available are). generated humanoid according robots to being their motor, a gear without backlash and a high reduction mainstable tasks at least Robotainment for some time (“Fluffy”) from a technological, Infosistance viewpoint.(“Hero”), Rescue Four groups (“Buddy”) are generated and AI (“Mr.Brain”). according to their 4. Cognitive systems mainstableThe present tasks at least Robotainment work for sometries totime propose(“Fluffy”) from a technologicalmeaningful, Infosistance classification viewpoint.(“Hero”), Rescue Fourof actually groups (“Buddy”) available are generated and humanoid AI (“Mr.Brain”). according robots to being their ratio and a controller. We are looking forward until stablemainThe present tasks at least Robotainment work for sometries totime propose(“Fluffy”) from a technologicalmeaningful, Infosistance classification viewpoint.(“Hero”), Rescue Fourof actually groups (“Buddy”) available are generated and humanoid AI (“Mr.Brain”). according robots to being their 5. Machine learning and behaviors Thesemain tasks sample Robotainment groups involve (“Fluffy”) 14 , Infosistancespecies, which (“Hero”), are presently Rescue (“Buddy”) available andand AI produced (“Mr.Brain”). by some usable artificial (nano-, femto or atorobots) muscles Thesemainstable tasks atsample least Robotainment for groups some timeinvolve (“Fluffy”) from 14a technological , Infosistancespecies, which viewpoint.(“Hero”), are presently Rescue Four groups (“Buddy”) available are generated andand AI produced (“Mr.Brain”). according by to some their 6. Neural networks UniversitiesThese sample and groups Companies. involve Exemplarily 14 species, they whichare classified are presently into the givenavailable groups. and Further produced developmen by somets will be available. associatedUniversitiesThesemain tasks sample withRobotainment and artificialgroups Companies. involveintelligence (“Fluffy”) Exemplarily 14 , mightInfosistancespecies, they merge whichare (“Hero”), thoseclassified are groups, presently Rescue into still the (“Buddy”) keepinggivenavailable groups. the andand main AIFurther produced (“Mr.Brain”).orientation developmen by of some theirts associatedTheseUniversities sample with and artificialgroups Companies. involveintelligence Exemplarily 14 mightspecies, they merge whichare thoseclassified are groups, presently into still the keepinggivenavailable groups. the and main Further produced orientation developmen by of some theirts In this context, one of the fundamental aspects of the robots  An unsolved problem for all autonomous mobile robots aims.associatedUniversities This withmight and artificial Companies. be seen intelligence as theExemplarily limitations might they mergeof (any)are thoseclassified today’s groups, classificationinto still the keepinggiven ofgroups. thehumanoid main Further orientation robots. developmen Based of their onts aims.UniversitiesassociatedThese Thissample withmight and artificialgroups Companies. be seen involveintelligence as theExemplarily limitations14 mightspecies, they mergeof which(any)are thoseclassified today’sare groups, presently classificationinto still the keepinggivenavailable ofgroups. thehumanoid and main Further produced orientation robots. developmen Basedby of some their onts is their capability to learn: to learn the characteristics of the is the power consumption. We are waiting for the next theaims.associated results This somewithmight artificial “Cost be seen Oriented intelligence as the Humaoilimitations mightd Robots mergeof (any) – those COHR” today’s groups, canclassification bestill identified keeping of theandhumanoid main compared. orientation robots. Based of their on theassociatedaims.Universities results This somewithmight and artificial “CostCompanies. be seen Oriented intelligence as theExemplarily Humaoilimitations mightd Robotsthey mergeof (any)are – thoseclassified COHR” today’s groups, canclassificationinto bestill the identified keepinggiven ofgroups. theandhumanoid main compared. Further orientation robots. developmen Based of their onts surrounding environment, that is, the physical environment, generation of batteries. theaims. results This somemight “Cost be seen Oriented as the Humaoilimitationsd Robots of (any) – COHR” today’s canclassification be identified of andhumanoid compared. robots. Based on aims.theassociated results This somewithmight artificial “Cost be seen Oriented intelligence as the Humaoilimitations mightd Robots mergeof (any) – those COHR” today’s groups, canclassification bestill identified keeping of theandhumanoid main compared. orientation robots. Based of their on but also the living beings that inhabit it. This means that  There are currently no real industrial applications for Finallythe results ethical some and “Cost social Oriented aspects Humaoi of humanoidd Robots robots – COHR” will be canoutlined be identified and discussed. and compared. Finallytheaims. results This ethical somemight and “Cost be social seen Oriented aspectsas the Humaoilimitations of humanoidd Robots of robots(any) – COHR” today’swill be canoutlinedclassification be identified and discussed. of andhumanoid compared. robots. Based on robots working in a given environment have to distinguish humanoid robots. Finally ethical and social aspects of humanoid robots will be outlined and discussed. FinallyKeywordsthe results ethical: someIntelligent and “Cost social Systems Oriented aspects and Humaoi of Applications, humanoidd Robots robots Robots,– COHR” will Costbe canoutlined Orientation, be identified and discussed. Humanoid and compared. robots, Roboethics human beings from other objects.  The minimum development time of a humanoid robot FinallyKeywords ethical: Intelligent and social Systems aspects and of Applications, humanoid robots Robots, will Costbe outlined Orientation, and discussed. Humanoid robots, Roboethics Keywords: Intelligent Systems and Applications, Robots, Cost Orientation, Humanoid robots, Roboethics is at present 20 man-years. Therefore they are very FinallyKeywords ethical: Intelligent and social Systems aspects and of Applications, humanoid robots Robots, will Costbe outlined Orientation, and discussed. Humanoid robots, Roboethics Keywords Intelligent Systems and Applications, Robots, Cost Orientation, Humanoid robots, Roboethics In addition to learn about their environment, robots have also expensive compared with their features. Keywords: Intelligent Systems and Applications, Robots, Cost Orientation, Humanoid robots, Roboethics  In Fig.1 humanoid robots are mobile, legged robots which are to learn about their own behavior, through a self-reflective Keywords1.: Intelligent INTRODUCTION Systems and Applications, Robots, In Fig.1Cost Orientation,humanoid robots Humanoid are mobile, robots, legged Roboethics robots which are 1. INTRODUCTION  usedIn Fig.1 for humanoidservice and robots toy tasks.are mobile, Furthermore, legged robotsdual arm which robots are process. They have to learn from experience, replicating With new technologies and new theoretical methods two 1. INTRODUCTION usedIn Fig.1 for humanoidservice and robots toy tasks.are mobile, Furthermore, legged robotsdual arm which robots are Robots are always1. frequentlyINTRODUCTION used as an example for canused befor seen service as anda combination toy tasks. Furof thermore,industrial dual and armhumanoid robots somehow the natural processes of the evolution of legged robots can be realized, responsible for human tasks Robots are always1. frequentlyINTRODUCTION used as an example for canusedIn Fig.1 befor seen humanoidservice as anda robotscombination toy tasks.are mobile, Furof thermore,industrial legged robotsdual and arm humanoidwhich robots are MechatronicRobots are Systems.always frequently Currently theused field as ofan robotics example is veryfor canrobotsIn Fig.1 be but seenhumanoid because as a robotscombination of their are industrialmobile, of industrial legged applications robots and humanoidwhich they are intelligence in living beings (synthesis procedures, trying and like service applications, dangerous tasks, tasks on the MechatronicRobots are Systems.always1. frequentlyINTRODUCTIONCurrently theused field as ofan robotics example is veryfor robotscanused befor butseen service because as anda combination oftoy their tasks. industrial Furof thermore,industrial applications dual and armhumanoid they robots are fastMechatronic growing. Systems.An overview Currently is shown the infield Fig. o 1.f robotics is very robotsassignedused for but serviceto becauseIndustrial and of toyRobots. their tasks. industrial Furthermore, applications dual arm they robots are error, learning by doing, ……..). production level, support of humans in everyday life….space fastMechatronicRobots growing are . Systems.alwaysAn overview frequently Currently is shown theused infield Fig.as o 1.fan robotics example is veryfor assignedrobotscan be butseen to becauseIndustrial as a combination of Robots. their industrial of industrial applications and humanoid they are Robotsfast growing are . alwaysAn overview frequently is shown used in Fig.as 1.an example for assignedcan be seen to Industrial as a combination Robots. of industrial and humanoid applications. fastMechatronic growing. Systems.An overview Currently is shown the infield Fig. o 1.f robotics is very assignedrobots but to becauseIndustrial of Robots. their industrial applications they are 21th century robots will be used in all areas of modern life. fastMechatronic growing. Systems.An overview Currently is shown the infield Fig. o 1.f robotics is very assignedrobots but to becauseIndustrial of Robots. their industrial applications they are The major challenges are: fast growing. An overview is shown in Fig. 1. assigned to Industrial Robots. Biped walking robots are much more flexible than robots  To develop robotic systems that can sense and with other movement possibilities. The main advantage of interact useful with humans. legged robots is the ability to move in a rough terrain without  To design robotic systems able to perform complex restrictions like wheeled and chained robots. tasks with a high degree of autonomy. Legged robots can work in environments which were until The role of these robots of the future could be improved by now reserved only for humans. Especially fixed and moving embedding them into emerging IT environments obstacles can be surmounted by legged robots. In addition to characterized by a growing spread of ubiquitous and cloud walking, such robots could realize other movements like computing, communications and of ad-hoc networks of climbing, jumping… Intelligent robots – especially sensors forming what has been termed “ambient intelligent, mobile platforms and humanoid robots are able to intelligence”. work together on a common task in a cooperative way (Kopacek, 2012). 2. HUMANOID ROBOTS Concerning safety, it should be underlined that an incorrect Humanoid robots are robots whose body shape resembles the action by humanoids can lead to a dangerous situation for human body. This can mean an entire body with arms and living beings and the environment. Furthermore, there could legs or just single body parts. Androids are especially be also the case where the incorrect action by the robot is designed humanoid robots. They are built to aesthetically caused by a criminal intent, if robot’s autonomy was remind of humans. controlled by ill-intentioned people, who modified the robot’s behavior in a dangerous and fraudulent course. The definition of a humanoid is simply “having human characteristics.” That is exactly what humanoid robotics is As the number of humanoids increases, the collective about. According to recent studies, humanoids will be able to population of humanoids will learn, develop and perhaps show emotion, think for themselves, and learn by watching eventually reproduce themselves more effectively. Once we Fig. 1 Categorization of Robots (Kopacek, 2018) Fig. 1 Categorization of Robots (Kopacek, 2018) their surroundings. It was always a dream to have a personal have a large population of self-motivated agents attending to CopyrightFig. 1 Categorization © 2018 IFAC of Robots (Kopacek, 2018) 220 CopyrightFig. 1 Categorization © 2018 IFAC of Robots (Kopacek, 2018) 220 robot looking like a human. Copyright Fig. 1 Categorization © 2018 IFAC of Robots (Kopacek, 2018) 220 Copyright Fig. 1 Categorization © 2018 IFAC of Robots (Kopacek, 2018) 220 Copyright © 2018 IFAC 220 Copyright Fig. 1 Categorization © 2018 IFAC of Robots (Kopacek, 2018) 220 221 Copyright © 2018 IFAC 220

IFAC TECIS 2018 222Baku, Azerbaidschan, Sept 13-15, 2018 J. Linert et al. / IFAC PapersOnLine 51-30 (2018) 220–225 separate tasks, these agents will negotiate, exchanging tasks the special demands of the user. The price should be not more and resources in mutually beneficial ways. than the price of a currently available, expensive toy robot. Probably COHR are a first step to one of the oldest dreams of 3. CATEGORIZATION the humans – the Personal Robot.

In the following the commercial and technological 3.2 Technological viewpoint. categorization will be outlined and shortly discussed, and the new term “Robotainment” will be introduced. This chapter is based on 14 different humanoid robots, which are presented and described in their technical details in 3.1 Commercial viewpoint. Linert, 2017. They will be used as references for a classification of humanoid robots. Currently there are worldwide four categories of two legged humanoid robots available: The technical characteristics and descriptions were extracted from the manufacturers and/or universities documents and “Professional” humanoid robots developed by large service sites, as far as they are openly available and not kept companies with a huge amount of research capacities. secret (which might be the case for some species under Examples are: The Honda robots (P1, P2, P3, ASIMO) – with development, to keep patent rights). the idea to assist humans in everyday working, the SONY robots (SDRX and QRIO) – with the background to serve Based on the results four groups Fluffy, Buddy, Hero and Mr. mostly for entertainment, leisure and hobby or in the future as Brain were created. For each robot in these groups the personal robots. specifications Height, Weight, Controller/CPU, Operating System (OS), Programming languages, External Power “Research” humanoid robots: There a lot of such robots Supply, Battery, Operating time, Degrees of Freedom, currently available or in the development stage e.g. Sensors, Connectivity and Actuators are collected, if approximately worldwide more than 1000 University available, in a table and some of them compared in a institutes and research centers are active in this field. The summary table (e.g. Tab.1). robots of this category are usually prototypes developed by computer scientists to implement methods of AI, image 3.2.1 Robotainment (“Fluffy”) processing, theoretical scientists from mechanics implementing and testing walking mechanisms, control The main purpose of this group of robots is to entertain and scientists to implement new control strategies, social educate, both usually appearing more or less in combination. scientists to implement human machine interfaces (HMI) for The term “Robotainment” in modification of “Edutainment” an efficient communication between humans and humanoid (Linert & Kopacek, 2016) may well characterize the robots. properties of this group. Evaluated robots may serve as Humanoid “Toy” robots: There are a lot of humanoid toy representative for the Fluffy class: Bioloid Premium, robots, mostly developed by small or medium sized RoBoHoN, NAO, Poppy and Qrio. companies, available on the market. Usually they have As mentioned before the main aim of Fluffy robots is to extremely limited capabilities in hard- as well as in software. entertain and educate (edutainment). In general they are Usually the basic programming software is simple – no rather small (<1m) and weigh less than 10 kg. Furthermore, advanced knowledge of programming is necessary. They can they have many different functions and sensors. For instance, walk, run, do flips, do cartwheels and dance. These robots are Bioloid, NAO and Poppy can be customized with different mostly available as a kit or pre-assembled, ready to walk. additional sensor packages. They are also used in Because of the limited market and the high price of competitions, such as the Robo Cup. Therefore they can be professional humanoid robots, the availability of research programmed with common programming languages such as humanoid robots, and the limited capabilities of humanoid C/C++, Python, Java or Matlab. There are also simple toy robots, a new fourth category – Cost Oriented Humanoid programming environments, like RoboPlus, for children. The Robots (COHR), was introduced (Kopacek, 2011). These robots are designed to ensure safety and durability for robots will be able to support humans in everyday life e.g. on domestic use. As for the costs, one can distinguish the Fluffy the working place, in the household, in leisure and robots into two groups: Low cost for private users and entertainment and should be available on the market for a hobbyists, high cost mainly for universities and laboratories. reasonable price. These goals could be reached by In general Fluffy robots standardization of the hard- and software platform, using the latest technologies, applying modern control concepts, ......  have to be robust and stable, (P. Kopacek, M. Hersh, 2015), (Kopacek, 2011).  offer expandable modules,  possess various sensors and interfaces, To support humans in everyday life like working place,  have to be able to communicate and interact, household, ..... , cost oriented humanoid robots (COHR) must  have to be easily programmable and usable, have an appropriate size ( minimum 1.2m ) as well as much  have a cute and friendly appearance and more functionality then the currently available toy robots.  have to be cost oriented (for hobbyists). The software has to be “open” for easy adapting according to

222

IFAC TECIS 2018 IFAC TECIS 2018 Baku, Azerbaidschan, Sept 13-15, 2018 Baku, Azerbaidschan, Sept 13-15, 2018 J. Linert et al. / IFAC PapersOnLine 51-30 (2018) 220–225 223 separate tasks, these agents will negotiate, exchanging tasks the special demands of the user. The price should be not more Tab. 1 Comparison of the group “Robotainment” (Linert, chemically or nuclear contaminated to avoid damages on and resources in mutually beneficial ways. than the price of a currently available, expensive toy robot. 2017) involved humans. Probably COHR are a first step to one of the oldest dreams of Bioloid RoBoHoN NAO Poppy Qrio 3. CATEGORIZATION the humans – the Personal Robot. The following robots may serve as representative for the Height 39,7 cm 19,5 cm 57,3 cm 83 cm 60 cm Hero class: Atlas, DRC-HUBO and Petman. While Petman 1,7 kg 390 g 5,2 kg 3,5 kg 7,3 kg In the following the commercial and technological 3.2 Technological viewpoint. Weight was designed to test chemical protecting clothes, Atlas’ and categorization will be outlined and shortly discussed, and the Prog. RoboPlus, Android C/C++, Python, DRC-HUBO’s main objective is to advance disaster response C/C++ Python, Snap new term “Robotainment” will be introduced. This chapter is based on 14 different humanoid robots, which lang. - robotics. Petman has many sensors to simulate a human body Java, and to observe temperature, humidity and chemical exposure. are presented and described in their technical details in Matlab 3.1 Commercial viewpoint. It is able to self-balance, walk and crawl but it is not meant Linert, 2017. They will be used as references for a 1000 mAh 1700 mAh 48,6 Wh Battery - - for more difficult tasks like Atlas or DRC-HUBO. All of the classification of humanoid robots. 11,1V 12V three examples are made of light material (mainly Currently there are worldwide four categories of two legged DOF 18 - 25 25 38 The technical characteristics and descriptions were extracted Aluminum) and have a weight of 80kg to 150 kg. All three humanoid robots available: Year 2009 2015 2006 2012 2002-2006 from the manufacturers and/or universities documents and robots can be controlled via tele-operation by a human Costs 1100- 1700€ 10.000€ 7.500- Unknown “Professional” humanoid robots developed by large service sites, as far as they are openly available and not kept operator. Due to the high quality hardware (sensors, companies with a huge amount of research capacities. 1300€ 9.000€ (not for secret (which might be the case for some species under selling) actuators, …) Heros are still very expensive. Examples are: The Honda robots (P1, P2, P3, ASIMO) – with development, to keep patent rights). Aim Edutain- Entertain- Research Learning Communi- the idea to assist humans in everyday working, the SONY ment, ment, Edutain- with cation 3.2.4.Intelligent robots (“Mr. Brain”). Based on the results four groups Fluffy, Buddy, Hero and Mr. robots (SDRX and QRIO) – with the background to serve compe- smartphone, ment, creativity Edutain- mostly for entertainment, leisure and hobby or in the future as Brain were created. For each robot in these groups the tition communi- competi- ment, Mr. Brain robots combine human mobility and artificial personal robots. specifications Height, Weight, Controller/CPU, Operating cation tions competi- intelligence. AI is an exponentially growing, however System (OS), Programming languages, External Power tion “Research” humanoid robots: There a lot of such robots controversially discussed field mainly present in cutting edge Supply, Battery, Operating time, Degrees of Freedom, Desig Robotis Sharp Aldeb Flowers Sony computer science. Several strategies to implement AI can be currently available or in the development stage e.g. Sensors, Connectivity and Actuators are collected, if South Corp. aran Lab Japan approximately worldwide more than 1000 University ner followed, which obviously can be combined with humanoid available, in a table and some of them compared in a Korea Japan France France robots. It can be expected that such a development will lead institutes and research centers are active in this field. The summary table (e.g. Tab.1). robots of this category are usually prototypes developed by 3.2.2 Infosistance (“Buddy”). to contributions to all four groups. However, Mr. Brain’s conception is basically aimed to exhibit “intelligence”. computer scientists to implement methods of AI, image 3.2.1 Robotainment (“Fluffy”) processing, theoretical scientists from mechanics Buddies are humanoid robots, which are mainly designed to The following robots will serve as representative for the Mr. communicate (in a natural way) with humans and to provide implementing and testing walking mechanisms, control The main purpose of this group of robots is to entertain and Brain class: NAO, iCub and Roméo. information and assistance. The term “Infosistance” may well scientists to implement new control strategies, social educate, both usually appearing more or less in combination. characterise the properties of this group. scientists to implement human machine interfaces (HMI) for The term “Robotainment” in modification of “Edutainment” Mr. Brain robots might aim to move independently and help an efficient communication between humans and humanoid people in their everyday life. In order to look nice and (Linert & Kopacek, 2016) may well characterize the The following robots may serve as representative for the robots. properties of this group. Evaluated robots may serve as friendly through their gesture, they have to move and behave Buddy class: Asimo, Geminoid F, RoboThespian, Roméo and human-like. People should not be scared of their appearance Humanoid “Toy” robots: There are a lot of humanoid toy representative for the Fluffy class: Bioloid Premium, Wakamaru (Linert, 2017). RoBoHoN, NAO, Poppy and Qrio. neither by their intellectual behavior. The latter might robots, mostly developed by small or medium sized seriously frighten people and already leads to controversial companies, available on the market. Usually they have Buddies have the size of a small to average adult (100-175 As mentioned before the main aim of Fluffy robots is to cm) so they can operate in human environment without discussions and even to science fiction artworks (movies, extremely limited capabilities in hard- as well as in software. entertain and educate (edutainment). In general they are books,…). This brings us back to Asimov’s laws. Even if his Usually the basic programming software is simple – no disturbing or frightening people. The Buddy group focuses on rather small (<1m) and weigh less than 10 kg. Furthermore, human like communication, which means not only to laws might (and are) be criticized, they show an extreme advanced knowledge of programming is necessary. They can they have many different functions and sensors. For instance, farsightedness of this author in a time where today’s already walk, run, do flips, do cartwheels and dance. These robots are understand language and answer appropriately but also to Bioloid, NAO and Poppy can be customized with different recognize gesture and facial expressions. realized developments must have been totally out of sight. mostly available as a kit or pre-assembled, ready to walk. additional sensor packages. They are also used in Because of the limited market and the high price of competitions, such as the Robo Cup. Therefore they can be ASIMO, Roméo and Wakamaru are meant to assist people in 3.2.5 Outlook. professional humanoid robots, the availability of research programmed with common programming languages such as everyday life, whereas Geminoid F and RoboThespian intend humanoid robots, and the limited capabilities of humanoid C/C++, Python, Java or Matlab. There are also simple to entertain and communicate with people. Therefore the first Future developments, especially due to increasing computer toy robots, a new fourth category – Cost Oriented Humanoid programming environments, like RoboPlus, for children. The three are able to operate autonomously while the others work capacity and artificial intelligence, might raise the appearance Robots (COHR), was introduced (Kopacek, 2011). These robots are designed to ensure safety and durability for via tele-operation. of overlapping group properties as mentioned already before. robots will be able to support humans in everyday life e.g. on domestic use. As for the costs, one can distinguish the Fluffy This might lead to combinations of the introduced groups, for robots into two groups: Low cost for private users and The android Geminoid F looks like a real person and is able example the fluffy Buddy, or the intelligent Hero. the working place, in the household, in leisure and to analyze people’s reaction. Therefore it has many DOFs in entertainment and should be available on the market for a hobbyists, high cost mainly for universities and laboratories. Exemplarily, NAO and Roméo given above might represent a its facial area. Because it only focuses on human-like fluffy Mr. Brain and an intelligent Buddy, respectively. reasonable price. These goals could be reached by In general Fluffy robots communication, it is not able to walk around. The same standardization of the hard- and software platform, using the Merging the features of these 4 groups would yield to a “real”  have to be robust and stable, applies for RoboThespian. It is only a matter of time for them humanoid robot. latest technologies, applying modern control concepts, ...... to be able to walk. (P. Kopacek, M. Hersh, 2015), (Kopacek, 2011).  offer expandable modules,  possess various sensors and interfaces, 3.2.6 Comparison. 3.2.3 Rescue (“Hero”). To support humans in everyday life like working place,  have to be able to communicate and interact, household, ..... , cost oriented humanoid robots (COHR) must  have to be easily programmable and usable, Even if the above four categories from each viewpoint might The officially proposed aim of Heros is to act in non-human have an appropriate size ( minimum 1.2m ) as well as much  have a cute and friendly appearance and yield a strongly simplified picture of today’s humanoid environments and/or as disaster response robots after natural more functionality then the currently available toy robots.  have to be cost oriented (for hobbyists). robots, they seem to cover present and probably future The software has to be “open” for easy adapting according to disasters or other incidents in which the environment may be developments. Obviously, overlaps must occur and will

222 223

IFAC TECIS 2018 224Baku, Azerbaidschan, Sept 13-15, 2018 J. Linert et al. / IFAC PapersOnLine 51-30 (2018) 220–225 probably increase with new computer-, sensor- and 4.1 Roboethics mechanical developments. However, as long as we speak about humanoid robots, imitating humans one still might ask Until now robotics was a discipline based on: Mechanics, for humanoid characteristics like: “What’s your profession? Physics, Mathematics, Automation and Control, Electronics, Are you nice? Are you kind? Are you strong? Are you Computer Science, Cybernetics, Artificial Intelligence… intelligent? …” Under this point of view, the presently given Therefore robots are frequently used as example for four groups from the technical and commercial viewpoint Mechatronic Systems. For Roboethics nontechnical fields cover a broad range of humanoid robots. Fig.2 gives a first e.g. Philosophy, Ethics, Theology, Biology, Physiology, trial about this comparison. Neurosciences, Law……have also to be taken in account. Fig.2 visualizes the commercial view and the technological Robotics unifies two cultures: “Science” and “Humanities”. classification of humanoid robots. The group “Fluffy” mainly The effort to design Roboethics should make the unity of coincides with Toy robots and partly (dotted line) with cost- these two cultures a primary assumption. This means that oriented robots (not all Fluffys are cheap to run yet). The task experts shall view Robotics as a whole - in spite of the of communication found in the Buddy’s group correlate with current early stage, which recalls a melting pot. Professional and Amateur robots. The aim of operating in non-human environments fulfilled by Heros, can also be So they can achieve the vision of the Robotics future. found in the category of Amateur robots. Though there are Robotics scientists, researchers, and the general public have rumors, that big companies like Honda try to construct about robots different evaluations: disaster robots, presently no actual results seem to be  Robots are nothing but machines. published (dotted line). Last, but not least, development of AI Robots have ethical dimensions. can be found in every of the four commercial categories, as it  is the next step to improve humanoid robotics.  Robots as moral agents.  Robots, evolution of a new species. 4. SOCIAL AND ETHICAL QUESTIONS Currently the following definition is used: “Roboethics is an applied ethics whose objective is to develop In the nearest future humanoid robots will get more and more scientific/cultural/technical tools that can be shared by similar to real humans and therefore new ethical and social different social groups and believes. These tools aim to questions will be arise. promote and encourage the development of Robotics for the advancement of human society and individuals, and to help preventing its misuse against humankind.” (Veruggio, 2002).

Fig. 2 Comparison of commercial and technological groups

224

IFAC TECIS 2018 IFAC TECIS 2018 Baku, Azerbaidschan, Sept 13-15, 2018 Baku, Azerbaidschan, Sept 13-15, 2018 J. Linert et al. / IFAC PapersOnLine 51-30 (2018) 220–225 225 probably increase with new computer-, sensor- and 4.1 Roboethics It is almost inevitable that human designers are inclined to Mechanization and digitalization already turned out to have mechanical developments. However, as long as we speak replicate their own conception of intelligence in the strongly changed our today’s society. Humanoid robots might about humanoid robots, imitating humans one still might ask Until now robotics was a discipline based on: Mechanics, intelligence of robots. In turn, the former gets wired into the as well provide the ability to change our society significantly. for humanoid characteristics like: “What’s your profession? Physics, Mathematics, Automation and Control, Electronics, control algorithm of the robots. Robotic intelligence is a Asimov’s rules might help to direct such changes in a Are you nice? Are you kind? Are you strong? Are you Computer Science, Cybernetics, Artificial Intelligence… learned intelligence, fed by the world models uploaded by the positive direction, however future developments will show intelligent? …” Under this point of view, the presently given Therefore robots are frequently used as example for designers. It is a self-developed intelligence, evolved through what happens. four groups from the technical and commercial viewpoint Mechatronic Systems. For Roboethics nontechnical fields the experience, which robots have gained through the learned cover a broad range of humanoid robots. Fig.2 gives a first e.g. Philosophy, Ethics, Theology, Biology, Physiology, effects of their actions. Robotic intelligence also includes the As engineers and researchers we tend to be fascinated and to trial about this comparison. Neurosciences, Law……have also to be taken in account. ability to evaluate and attribute a judgment to the actions investigate incessantly in order to improve our creations and carried out by robots. ideas. Although, it is our duty to foresee future developments Fig.2 visualizes the commercial view and the technological Robotics unifies two cultures: “Science” and “Humanities”. and to avoid misleading directions, it might be difficult, if not classification of humanoid robots. The group “Fluffy” mainly The effort to design Roboethics should make the unity of Another set of questions arises around the shape of the impossible, to avoid “negative” developments and coincides with Toy robots and partly (dotted line) with cost- these two cultures a primary assumption. This means that humanoids. Is it right that robot can exhibit a personality? Is applications, if our timing knowledge reaches a certain oriented robots (not all Fluffys are cheap to run yet). The task experts shall view Robotics as a whole - in spite of the it right that robot can express emotion? The concern potential. of communication found in the Buddy’s group correlate with current early stage, which recalls a melting pot. expressed by psychologist is that, well before evolving to 5. SUMMARY AND OUTLOOK Professional and Amateur robots. The aim of operating in become conscious agents, humanoids can be an extraordinary So they can achieve the vision of the Robotics future. non-human environments fulfilled by Heros, can also be tool used to control human beings. Future development in this area can be foreseen, on the one Robotics scientists, researchers, and the general public have found in the category of Amateur robots. Though there are hand via increasing features of today’s robots building parts. about robots different evaluations: For example an artificial intelligent system a humanoid robot, rumors, that big companies like Honda try to construct On the other hand, rapid developments might come from who has to know, what he has to do in a special situation. disaster robots, presently no actual results seem to be parallel research in autonomic car driving, but might also be  Robots are nothing but machines. From the viewpoint of Roboethics the robot must know what published (dotted line). Last, but not least, development of AI driven by image or prestige projects showing the superior  Robots have ethical dimensions. to do and what not to do. Therefore a robot must act can be found in every of the four commercial categories, as it research abilities of a country. Humanoid robots used as  Robots as moral agents. “ethically”. He can do this, whom he uses activities, which is the next step to improve humanoid robotics. guides in some airports, as well as waiters in bars and  Robots, evolution of a new species. lead to his goal and which have more advantages than restaurants might fall under this aspect. disadvantages for others. What for a robot is applicable, is 4. SOCIAL AND ETHICAL QUESTIONS Currently the following definition is used: “Roboethics is an just as applicable for a human nature. Based on well-defined The main goal of this contribution consists of merging the applied ethics whose objective is to develop terms, it is possible to provide a scientific ethics and an two currently existing categorizations - commercial and In the nearest future humanoid robots will get more and more scientific/cultural/technical tools that can be shared by experimental ethics and use with robots and humans. technological – to make humanoid robots more and more similar to real humans and therefore new ethical and social different social groups and believes. These tools aim to (Kopacek and Hersh, 2015.). similar to humans. questions will be arise. promote and encourage the development of Robotics for the advancement of human society and individuals, and to help Humanoids are the most sophisticated thinking machine able REFERENCES preventing its misuse against humankind.” (Veruggio, 2002). to assist human beings in manifesting themselves, and this is ethically very good, as it supposes a radical increment of Kopacek,P. (2012): Roboethics. In Proceedings of the IFAC human symbolic capacity; humanoids will develop a lot of Workshop on „Supplemental Ways for Improving activities in order to increase the human quality of life. International Stability – SWIIS 2012, p.67-72, published (Kopacek and Hersh, 2015). on line under DOI 10.3182/20120611-3-IE-4029.00015, Elsevier, 2013. Kopacek,P. (2014): Ethical and social aspects of robots. 4.2 Social aspects. Preprints of the 19th World Congress. The International Federation of Automatic Control Cape Town, South Future developments like “Industry 4.0”, the “Internet of Africa. August 24-29, 2014, p. 11425 – 11430. Published things”, “Smart Grids”, etc. will, if human development is by Elsevier Science Publishers N.Y, DOI not suddenly stopped by war or, natural or demographic 10.3182/20140824-6-ZA-1003.00857. catastrophes, definitely strongly change our environment. It is Kopacek,P. and M.Hersh (2015): Roboethics; in: "Ethical interesting to see that western societies like Europe or Engineering for International Development and America seem to fear the takeover of our micro- and macro Environmental Sustainability", M. Hersh (Hrg.); economic power by robotic systems by far more than Asian Springer Verlag London, London, 2015, ISBN: 978-1- societies. Japan’s fear of biological developed monsters, like 4471-6617-7, p. 65 - 102. http://dx.doi.org/10.1007/978- Godzilla, appears to be deeper rooted than just a nice film 1-4471-6618-4 idea. This difference is inherent even up to high political Kopacek,P. (2018); Unpublished lecture material) TU Wien. future governing, lobbying groups. A simple view of the Linert,J. and P.Kopacek (2016): Robots for Education external appearance today existing humanoid robots supports (Edutainment), in: "Proceedings 17th IFAC Conference this observation. Western humanoid robots have generally on International Stability, Technology and Culture much less nice and personal attracting appearance than their TECIS 2016", IFAC Papers On line, Vol.49, Issue 29; Asiatic counterparts. This cannot be only explained by “less International Federation of Automatic Control, IFAC; artistic capabilities” of westerners. It is based on known or Elsevier Science Publishers B.V., 2016, DOI: subconscious wish to distinguish humanoid robots from 10.1016/j.ifacol.2016.11.065. humans. Linert,J. (2017); Classification of Humanoid Robots; BSc Let us assume that in the future humanoid robots will be able thesis, TU Wien, 2017 (unpublished) to move freely in human environment and help people with Veruggio,G. (2002): Views and visions in robotics. Hearing everyday activities. Beside “helping hands” – will such a at the Italian Senate’s 7th Permanent Commission, Rome humanoid robot be able to replace also social contacts? Fig. 2 Comparison of commercial and technological groups

224 225