The development of a versatile, fully-capable humanoid robot as envisioned in science fiction books is one of the most challenging but interesting issues in the robotic field. Currently, existing humanoid robots are designed with different purposes and applications in mind. In humanoid robot development process, each robot is designed with various characteristics, abilities, and equipment, which influence the general structure, cost, and difficulty of development. Even though humanoid robot development is very popular, a few review papers are focusing on the design and development process of humanoid robots. Motivated by this, we present this review paper to show variations in the requirements, design, and development process and also propose a taxonomy of existing humanoid robots. It aims at demonstrating a general perspective of existing humanoid robots’ characteristics and applications. This paper includes state-of-the-art and successfully reported existing humanoid robot designs along with different robots used in various robot competitions.

中文翻译：

---

人形机器人发展综合调查

科幻小说中所设想的多功能、全能类人机器人的开发是机器人领域最具挑战性但最有趣的问题之一。目前，现有的仿人机器人在设计时考虑了不同的目的和应用。在仿人机器人的开发过程中，每个机器人都被设计成具有不同的特性、能力和设备，这些都会影响到开发的总体结构、成本和难度。尽管仿人机器人的开发非常流行，但也有一些评论论文专注于仿人机器人的设计和开发过程。受此启发，我们提出这篇综述论文来展示需求、设计和开发过程的变化，并提出现有人形机器人的分类法。它旨在展示现有人形机器人的特征和应用的一般视角。本文包括最先进的并成功报告了现有的人形机器人设计以及在各种机器人比赛中使用的不同机器人。