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Prof. Gordon Cheng

March 2014 5:30 P.M.

ICS (Institute of Cognitive Systems)
Acknowledgements TUM @Kyoto
Challenges Science (advance human understanding) + Society (Enhancing
quality of lifestyle) + Engineering (improving)
Multidisciplinary integration (cognitive science/ neuropsychology + etc.)

Is humanoid perceived as human?
Motivation for m& functionality
Overlapping aspect in brain (perception & action) (sensor & motor)
Study: motor interference robots do not have any interference
o Congruent & incongruent humanoid also interference
o Design principle behind humanoid

Humanoid can impose appropriate constraints
o Size, autonomy, range of motion
Active eyes active head/ eyes/ neck systems
Need to take into account degree of freedom (ex. Legs performance)
Hands specs pinching, grasping, pointing (human unique)
Construction & Control: Overall fully integrated humanoid active
perception + full body imitation + dexterous manipulation + bipedal

Most important (unique aspect is every joint is active or passive
Vestibular-based Balancing & Posture control & Interaction

System Integration of computational neuroscience
Very important internal organization & processes
Inspiration scaleable & distributed computation architecture
Distributed arch. Key aspects (temporal adjustment/ be able to control
time essential delay/ network-based/ top-down influence on bottom-
up/ diverse or rick I/P O/P)

VOR (Vestibular Ocular Reflex) for image stabilization

Compensates for external disturbances
Used for retinal image stabilization
Human-like motor performance
Currently started using in car systems

Active eye movement
Version, vergence, saccadic eye motion, VOR human-like
Visual processing stereo vision, motion detection, color processing,
Needs human-like seeing & reaching (fundamental behavior baby
study) Motor-motor Mapping

Comp Arch.
High scaleability
Parallel/ concurrent processing
LGN feedback (Can reduce no. of samples needed for storage space + can
generalize + classify)
Enhance object recognition thru time-awareness

Transfer of tasks & skills on humanoids?
How to transfer + Handle complex & dynamic situations?
Soln. Feed forward (motor tapes) more effective since faster, just by
looking at humans (imitation)
Observational learning thru primitive & dynamic situations
Action selection/ improving performance thru practice for robots

Brain mechanisms for dexterity
Emergent grasp affordance encoding
o Challenging task = dexterity
Imitation bootstrapping associative memory powerful mechanism
Skill transfer tough to transfer; is there a mid-way soln.; flexibility of
body schema
Training ex. ball swapping

Ending note
All about capability; imitation learning; need for more communication
Whats missing? Not teaching robot; what about correction? Robot
doesnt explore needs coaching from human

Trajectory mapping? Through semantic reasoning
Switches between inference modules
Inference capability

Cognitive communication
Texture/ articulation/ human-like delays effective comm.

Sensory system
Whats missing? Tactile processing hard to make close contact
Soln. cellular skin network (tactile modular network)
Putting skin on robot 2500 sensors! Needs calibration so use
sensory-motor map
It is feather light & multi-approach
Still want to touched location + automatically use 3D surface