SUMMARY:

 

HRP‑4C, nicknamed Miim, is a humanoid robot developed by Japan’s AIST to replicate the proportions, facial expressions, and movement of an average young Japanese woman. It features 44 degrees of freedom, including 8 DoF for facial expressions, enabling realistic singing, speaking, and performance.  

 

Originally unveiled in 2009, HRP‑4C has been used in fashion shows, dance performances, Vocaloid‑based singing demonstrations, and research on human‑like gait and motion.  

 

EDITORIAL:

 

HRP‑4C is one of the most iconic entertainment‑focused humanoids ever built. Unlike industrial robots, HRP‑4C was designed explicitly for performance, expression, and public engagement.

 

Its silicone‑skinned face, 8‑DoF expression system, and Vocaloid‑powered singing made it a global sensation.

 

AIST’s research team used HRP‑4C to explore human‑like walking, motion capture‑driven dance, and natural head/face synchronization.

 

Later upgrades improved gait realism to the point of being described as “super‑realistic walking” in 2011.  

 

HRP‑4C remains a landmark in the history of humanoid robotics — not for industrial capability, but for pushing the boundaries of robotic expression, anthropomorphism, and public‑facing humanoid design.

 

SPECIFICATIONS:

 

Dimensions & Build

 

- Height: 158–160 cm (depending on revision)  

- Weight: 43–48 kg (with batteries)  

- Body design: Based on 1997–1998 Japanese female anthropometric database  

 

Mobility

 

- Walking speed: ~1.8 km/h  

- Capabilities:  

  - Human‑like gait generation  

  - Dance routines  

  - Stage performance  

 

Degrees of Freedom

 

- Total: 42–44 DoF (depending on revision)  

- Face: 8 DoF  

- Neck: 3 DoF  

- Arms: 6 DoF ×2  

- Hands: 2 DoF ×2  

- Torso: 3 DoF  

- Legs: 7 DoF ×2  

 

Actuation & Manipulation

 

- 44 servomotors  

- Limited manipulation (entertainment‑focused)  

 

Perception & Sensors

 

- Head‑mounted CCD camera  

- IMU  

- 6‑axis force sensors in soles  

 

Compute & Software

 

- CPU: Intel Pentium M 1.6 GHz  

- OS: Real‑time Linux  

- Middleware: RT‑Middleware, OpenHRP3  

 

Speech & Singing

 

- Vocal synthesis via Vocaloid  

- Supports multiple voicebanks (e.g., CV‑4Cβ, Megpoid)  

 

Applications

 

- Entertainment  

- Fashion shows  

- Dance & singing demonstrations  

- Human‑robot interaction research  

- Motion‑capture‑based performance  

 

Pricing

 

- Not commercially sold  

- Research platform only  

 

WHAT IS NOT PUBLISHED

 

- Battery runtime  

- Torque per joint  

- API/SDK access details  

- Environmental ratings  

 

Image: @AnnieDigitalWorld

 

COMPANY SOURCE"

 

https://youtube.com/shorts/JcQxLbYz744?si=AYDxLJY0GHRePK-U

 

KEY NEWS & COVERAGE

 

https://youtu.be/YvbAqw0sk6M?si=dJvks2Ukcv5eqOZj