TY - GEN
T1 - CB
T2 - 2008 IEEE International Conference on Robotics and Automation, ICRA 2008
AU - Cheng, Gordon
AU - Hyon, Sang Ho
AU - Ude, Alěs
AU - Morimoto, Jun
AU - Hale, Joshua G.
AU - Hart, Joseph
AU - Nakanishi, Jun
AU - Bentivegna, Darrin
AU - Hodgins, Jessica
AU - Atkeson, Christopher
AU - Mistry, Michael
AU - Schaal, Stefan
AU - Kawato, Mitsuo
PY - 2008
Y1 - 2008
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=51649100350&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2008.4543459
DO - 10.1109/ROBOT.2008.4543459
M3 - Conference contribution
AN - SCOPUS:51649100350
SN - 9781424416479
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1772
EP - 1773
BT - 2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Y2 - 19 May 2008 through 23 May 2008
ER -