CB: A humanoid research platform for exploring NeuroScience

Gordon Cheng, Sang Ho Hyon, Jun Morimoto, Aleš Ude, Glenn Colvin, Wayco Scroggin, Stephen C. Jacobsen

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

60 Scopus citations

Abstract

This paper presents a 50 degrees of freedom humanoid robot, CB - Computational Brain. 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, configuration and performance. The real-time network-based control architecture for the control of all 50 degrees of freedom will be presented. The controller provides full position/velocity/force sensing and control at 1 KHz, allowing us the flexibility in deriving various forms of control schemes. Three aspects of the system are highlighted in this paper: 1) physical power for walking; 2) full-body compliant control -physical interactions; 3) perception and control - visual ocular-motor responses.

Original languageEnglish
Title of host publicationProceedings of the 2006 6th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS
Pages182-187
Number of pages6
DOIs
StatePublished - 2006
Externally publishedYes
Event2006 6th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS - Genoa, Italy
Duration: 4 Dec 20066 Dec 2006

Publication series

NameProceedings of the 2006 6th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS

Conference

Conference2006 6th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS
Country/TerritoryItaly
CityGenoa
Period4/12/066/12/06

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