CB: A humanoid research platform for exploring neuroscience

Gordon Cheng; Sang Ho Hyon; Jun Morimoto; Aleš Ude; Joshua G. Hale; Glenn Colvin; Wayco Scroggin; Stephen C. Jacobsen

doi:10.1163/156855307781389356

CB: A humanoid research platform for exploring neuroscience

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

Research output: Contribution to journal › Article › peer-review

145 Scopus citations

Abstract

This paper presents a 50-d.o.f. humanoid robot, Computational Brain (CB). 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 utilizing a system that is closer to humans-in sensing, kinematics configuration and performance. We present the real-time network-based architecture for the control of all 50 d.o.f. The controller provides full position/velocity/force sensing and control at 1 kHz, allowing us the flexibility in deriving various forms of control. A dynamic simulator is also presented; the simulator acts as a realistic testbed for our controllers and acts as a common interface to our humanoid robots. A contact model developed to allow better validation of our controllers prior to final testing on the physical robot is also presented. Three aspects of the system are highlighted in this paper: (i) physical power for walking, (ii) full-body compliant control-physical interactions and (iii) perception and control-visual ocular-motor responses.

Original language	English
Pages (from-to)	1097-1114
Number of pages	18
Journal	Advanced Robotics
Volume	21
Issue number	10
DOIs	https://doi.org/10.1163/156855307781389356
State	Published - 1 Oct 2007
Externally published	Yes

Keywords

Biologically motivated vision
Biped locomotion
Contact modeling
Control architecture
Dynamic simulation
Humanoid interaction
Humanoid robotics
Vision attention

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10.1163/156855307781389356

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title = "CB: A humanoid research platform for exploring neuroscience",

abstract = "This paper presents a 50-d.o.f. humanoid robot, Computational Brain (CB). 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 utilizing a system that is closer to humans-in sensing, kinematics configuration and performance. We present the real-time network-based architecture for the control of all 50 d.o.f. The controller provides full position/velocity/force sensing and control at 1 kHz, allowing us the flexibility in deriving various forms of control. A dynamic simulator is also presented; the simulator acts as a realistic testbed for our controllers and acts as a common interface to our humanoid robots. A contact model developed to allow better validation of our controllers prior to final testing on the physical robot is also presented. Three aspects of the system are highlighted in this paper: (i) physical power for walking, (ii) full-body compliant control-physical interactions and (iii) perception and control-visual ocular-motor responses.",

keywords = "Biologically motivated vision, Biped locomotion, Contact modeling, Control architecture, Dynamic simulation, Humanoid interaction, Humanoid robotics, Vision attention",

author = "Gordon Cheng and Hyon, {Sang Ho} and Jun Morimoto and Ale{\v s} Ude and Hale, {Joshua G.} and Glenn Colvin and Wayco Scroggin and Jacobsen, {Stephen C.}",

note = "Funding Information: Force control or compliant control plays a key role in the ways humans interact with the world. This is well supported by biomechanical studies [29]. Humans control the stiffness of their limbs in dealing with contacts while performing appropriate tasks. This is also supported by the passivity of non-linear control theory [30]. We developed a controller to perform 3-D force-based control of CB.",

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AU - Scroggin, Wayco

AU - Jacobsen, Stephen C.

N1 - Funding Information: Force control or compliant control plays a key role in the ways humans interact with the world. This is well supported by biomechanical studies [29]. Humans control the stiffness of their limbs in dealing with contacts while performing appropriate tasks. This is also supported by the passivity of non-linear control theory [30]. We developed a controller to perform 3-D force-based control of CB.

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CB: A humanoid research platform for exploring neuroscience

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