The realization of robot theater: Humanoid robots and theatric performance

This paper aims to report on the technical development and the realization of the world first robot theatre performance with a cast comprising two biped androids and two twin-wheeled two-armed humanoid robots. Each of the biped androids has a head with human-face, capable of showing multiple facial expressions, and a pair of 7 DOF arms with a multi-jointed hand capable of grabbing objects of various shapes and performing a number of trained talent shows. With a torso and two jointed legs, the android is capable of static walking. Each of two dual wheeled humanoid robots has a pair of 7 DOF arms and multi-jointed hands. These intelligent robots have advanced artificial intelligence including computer vision, voice recognition, and voice synthesis, and are capable of performing a number of entertaining programs on the stage.