The DOI matches its Crossref record; 1 of the 1 references it cites were found in a registry or an index.
CB: a humanoid research platform for exploring neuroscience
Open accessAbstract
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.
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Citations
Cites
Computational modelling of visual attention
Itti, L., & Koch, C. (2001) · Nature Reviews Neuroscience · doi:10.1038/35058500 · Cited by 4,733
Cited by
Cognitive Developmental Robotics: A Survey
Asada, M., Hosoda, K., Kuniyoshi, Y., Ishiguro, H., Inui, T., Yoshikawa, Y., Ogino, M., & Yoshida, C. (2009) · IEEE Transactions on Autonomous Mental Development · doi:10.1109/tamd.2009.2021702 · Cited by 554
Task-Specific Generalization of Discrete and Periodic Dynamic Movement Primitives
Ude, A., Gams, A., Asfour, T., & Morimoto, J. (2010) · IEEE Transactions on Robotics · doi:10.1109/tro.2010.2065430 · Cited by 355
Self-citationUnified Impedance and Admittance Control
Ott, C., Mukherjee, R., & Nakamura, Y. (2010) · 2010 IEEE International Conference on Robotics and Automation · doi:10.1109/robot.2010.5509861 · Cited by 342
Overview of the torque-controlled humanoid robot TORO
Englsberger, J., Werner, A., Ott, C., Henze, B., Roa, M. A., Garofalo, G., Burger, R., Beyer, A., Eiberger, O., Schmid, K., et al. (2014) · 2014 IEEE-RAS International Conference on Humanoid Robots · doi:10.1109/humanoids.2014.7041473 · Cited by 297
Neuroengineering challenges of fusing robotics and neuroscience
Cheng, G., Ehrlich, S. K., Lebedev, M., & Nicolelis, M. A. L. (2020) · Science Robotics · doi:10.1126/scirobotics.abd1911 · Cited by 55
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Metadata
- Authors
- Cheng, G., Hyon, S.-H., Morimoto, J., Ude, A., Hale, J. G., Colvin, G., Scroggin, W., & Jacobsen, S. C.
- Venue
- Advanced Robotics
- Publisher
- Informa UK Limited
- Published
- 2007-01
- Volume
- 21
- Issue
- 10
- Pages
- 1097-1114
- ISSN
- 0169-1864 (ISSN-L)
- 1568-5535
- OpenAlex
- W1971609423
- Cited by
- 213
- References
- 1
- FWCI
- 13.03
- Type
- journal article
- Language
- en
- Open access
- green
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- Cheng, G., Hyon, S.-H., Morimoto, J., Ude, A., Hale, J. G., Colvin, G., Scroggin, W., & Jacobsen, S. C. (2007). CB: a humanoid research platform for exploring neuroscience. Advanced Robotics. https://doi.org/10.1163/156855307781389356
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