{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,3]],"date-time":"2026-06-03T18:47:16Z","timestamp":1780512436958,"version":"3.54.1"},"reference-count":58,"publisher":"World Scientific Pub Co Pte Ltd","issue":"01","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Int. J. Human. Robot."],"published-print":{"date-parts":[[2024,2]]},"abstract":"<jats:p> In 1997, Sony announced AIBO, a fully autonomous small quadruped robot for home entertainment, and in 1999 the company began selling it as a consumer product. Soon after development, two small humanoid robots were announced. One was QRIO by Sony, which is about 60[Formula: see text]cm height body with dynamical bipedal walking and whole-body cooperative control. The other was PINO by the ERATO Kitano Symbiotic Systems Project, which is about 70[Formula: see text]cm height body, Open HW\/SW with inexpensive off-the-shelf component. In this paper, we revisit the two humanoids and nearly 20-year-old technologies, and discuss what were done 20 years ago, what have been achieved and what challenges are ahead. <\/jats:p>","DOI":"10.1142\/s0219843623500275","type":"journal-article","created":{"date-parts":[[2023,11,17]],"date-time":"2023-11-17T09:16:16Z","timestamp":1700212576000},"source":"Crossref","is-referenced-by-count":8,"title":["Stories of QRIO and PINO, and Beyond: Lessons Learned from Small Humanoid Projects From R&amp;D to Business"],"prefix":"10.1142","volume":"21","author":[{"ORCID":"https:\/\/orcid.org\/0009-0006-4646-6975","authenticated-orcid":false,"given":"Masahiro","family":"Fujita","sequence":"first","affiliation":[{"name":"AI Technology Division, Technology Infrastructure Center, Sony Group Corporation, 2-10-1, Osaki, Shinagawa, Tokyo, 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