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The use of robots becomes common in different areas of modern society. Robots can assist in activities, such as routine housework, dangerous tasks, and industrial work. Therefore, opportunities to share and discuss emerging ideas to improve robots abilities in performing these activities are essential for the development of researches in this area.

The IV Brazilian Humanoid Robot Workshop (BRAHUR) and V Brazilian Workshop on Service Robotics (BRASERO) is an event that joins the Brazilian community to present their current researches and promote discussions about relevant topics related to robotics and artificial intelligence.

This year the Brahur/Brasero event was organized by UNEB and supported by the Robocup Brazil and CNPq. Due to the pandemic, it was held virtually through the presentation of papers, speeches and discussions in the related area.

The event of 2021 had the honour to receive the president of RoboCup Federation, Dr Peter Stone, an invited speaker, who promoted a high-level discussion among the participants. Besides, we had a special day dedicated to present works from the Brazilian Service Robotics @home league. This day was essential to promote collaborative research, discuss the pandemic effects on the projects, and define actions to assist in the continuity of teams and their research.

This proceeding brings together contributions of several authors, researchers, students of undergraduate and graduate courses in Engineering and Computing, who were presented and discussed during the event.