Research National Institute of Advanced Industrial Science and Technology Since the period of 1997-1998 has been developed and technical forms part of a Humanoid Robot joints.

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In the process of implementation Humanoid Robot is programmed to obtain the desired results in accordance.

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Humanoid Robot for sound program using vocaloid (voice synthesizer application program) output Yamaha Corporation that enables a humanoid robot can remove vocals sound as you wish and sing. Vocaloid editor provides various sound like the Soft (gentle, delicate voice), Sweet (young, little child voice), Dark (mature, heartbroken-like voice), Vivid (bright, Cheerful voice), Solid (loud, clear voice), and Light (innocent, Heavenly voice).

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For the movement of joints, most of Humanoid Robot using interfacing software with hardware that is better known by the term HRP (Humanoid Robotics Platform). This platform has been developed by a university laboratory in Tokyo and Yoshihiko Nakamura

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With this OpenHRP platform allows users in the planning module with a visual depiction that has been integrated as a core simulator using the algorithm simulates the dynamic motion control and feedback control through the processing of information.

HRP mechanism is the common object request broker architecture that integrates information from the accelerometer robot pose estimation, interpolation behavior patterns with the files stored, Stabilizing behavior based on sensor information, improve walking pattern, calculation with inverse kinematics, instruction information to the sensor information.

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Several cases of human error can cause damage to the Auditor initialization. OpenHRP process is the platform to solve this problem with a device that provides security initialization experiments with confirmation of the data before the actual interface operating controls. Development OpenHRP auditors provide platform features with advantages as follows:
• prevent the script from the command through the simulation trial error (debug)
• the steps needed to make robots
• The procedure according to desire to be seen just by looking at the screen (to have consistent procedures)
• Single interface to integrate more than one process is executed when the program implementation process
   interfacing

ISO has standardized platform architecture and VRML (Virtual Reality Modeling Object) with 3D graphics that can run on Linux and Windows operating system dynamics engine uses algorithms to calculate the dynamics of multi-link much faster than the commercial dynamic simulation software, and integrated with readings feature simulated robot model , testing with constraints, the position of the configuration settings, log storage, 3D graphics, and video file storage.

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* wikipedia , generalrobotix, and other sources...