AIST · Humanoid · 2009
HRP-4C, nicknamed Miim, is AIST's landmark entertainment humanoid — an adult-size female android unveiled in 2009, proportioned to the average young Japanese woman (per the 1997-98 Japanese body-dimension database) at 1,600 mm and 43 kg including battery. Its realism was its point: a silicone-skinned face driven by 8 dedicated facial-expression motors on top of 30 body motors (44 DOF total), speech recognition and ambient-sound awareness, and Vocaloid-powered singing. Miim walked using the HRP series' proven gait control, sang and danced alongside human performers with motion-capture-driven movement, and even worked as a professional robotic fashion model — her first gig modelling a wedding dress in 2009. She later served in evaluating nursing-care equipment. HRP-4C became a global symbol of Japan's lead in expressive, human-like humanoids. NOTE: DOF cited as 44 (30 body + 8 face + neck) per AIST/IEEE records; historic entry, verified figures.
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View full interactive profile, comparisons & videos →| Category | Humanoid |
| Sub-type | Cybernetic Human / Entertainment Humanoid |
| Status | Active |
| Year | 2009 |
| Origin | Japan |
| Also known as | Miim |
| Announced | 2009-03 |
| Released | 2009 |
| Weight | 43 kg |
| Frame | Silicone face/hands, plastic exterior, metal frame |
| Degrees of freedom | 42 |
| AI model | Motion-capture-driven human-like gait; Vocaloid vocal synthesizer (singing); speech + ambient-sound recognition |
| Operating system | OpenRTP (OpenRTM-aist, OpenHRP3) |
| Actuator type | ~30 body servo motors + 8 facial motors; silicone-skin face; HRP-series walking control |
| Use cases | Entertainment & performance, Fashion shows, Singing / dance, Human-like gait research, Device evaluation (human simulator) |
| Made in | Japan |
