CB: Exploring neuroscience with a humanoid research platform

In this video presentation we introduce a 50 degrees of freedom humanoid robot, CB - Computational Brain [1]. CB is a humanoid robot created for exploring the underlying processing of the human brain while dealing with the real world. We place our investigations within real world contexts, as humans...

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Bibliographic Details
Main Authors: Cheng, G., Sang-Ho Hyon, Ude, A., Morimoto, J., Hale, J.G., Hart, J., Nakanishi, J., Bentivegna, D., Hodgins, J., Atkeson, C., Mistry, M., Schaal, S., Kawato, M.
Format: Conference Proceeding
Language:English
Subjects:
Arm
Centralized control
Control systems
Eyes
Humanoid robots
Humans
Leg
Motion control
Neck
Neuroscience
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Summary:In this video presentation we introduce a 50 degrees of freedom humanoid robot, CB - Computational Brain [1]. CB is a humanoid robot created for exploring the underlying processing of the human brain while dealing with the real world. We place our investigations within real world contexts, as humans do. In so doing, we focus on utilising a system that is closer to humans - in sensing, kinematics configuration and performance. We present a full-body compliance controller that was developed for the motion control of our humanoid robot [2]. Our initial experimentation on our system includes: 1) full-body compliant control - physical interactions/balancing/motion control; 2) the integrated visual ocular-motor responses; 3) perception and control - reaching, foveation, and active object recognition; 4) our studies of Central Pattern Generator for walking.
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.2008.4543459