A team of Japanese researchers has built two humanoid robots that can do pushups, situps and stretches just like their human creators. One can even sweat, releasing heat generated by the physical activity.

In the latest issue of the U.S. journal Science Robotics released this week, Yuki Asano and colleagues from the graduate school of information science and technology at the University of Tokyo explain how the two robots — named Kenshiro and Kengoro — were designed to mimic human systems, including muscle and bone movements.

Kenshiro, developed between 2011 and 2014, and Kengoro, developed from 2015 onward, aim to mimic the body proportions, skeletal structure, muscle arrangement and joint performance of average humans.