TY - GEN
T1 - CB
T2 - 2006 6th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS
AU - Cheng, Gordon
AU - Hyon, Sang Ho
AU - Morimoto, Jun
AU - Ude, Aleš
AU - Colvin, Glenn
AU - Scroggin, Wayco
AU - Jacobsen, Stephen C.
PY - 2006
Y1 - 2006
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=48149113304&partnerID=8YFLogxK
U2 - 10.1109/ICHR.2006.321382
DO - 10.1109/ICHR.2006.321382
M3 - Conference contribution
AN - SCOPUS:48149113304
SN - 142440200X
SN - 9781424402007
T3 - Proceedings of the 2006 6th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS
SP - 182
EP - 187
BT - Proceedings of the 2006 6th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS
Y2 - 4 December 2006 through 6 December 2006
ER -