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Contents
Series Preface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .vii
The Editor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ix
Contributors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xi

SECTION I Humanoid Robotics Perspective

to Neuroscience

Chapter 1 Humanoid Robotics and Neuroscience: Science

Engineering, and Society . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
Gordon Cheng

Chapter 2 Humanoid Brain Science. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .29

Erhan Oztop, Emre Ugur, Yu Shimizu, and Hiroshi Imamizu

SECTION II Emulating the Neuro-Mechanisms with

Humanoid Robots

Chapter 3 Hands, Dexterity, and the Brain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

Helge Ritter and Robert Haschke

Chapter 4 Stochastic Information Processing that Unifies Recognition

and Generation of Motion Patterns: Toward Symbolical
Understanding of the Continuous World . . . . . . . . . . . . . . . . . . . . . . . . . 79
Tetsunari Inamura and Yoshihiko Nakamura

Chapter 5 Foveal Vision for Humanoid Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . 103

Ales Ude

Chapter 6 Representation and Control of the Task Space in Humans

and Humanoid Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
Michael Mistry and Stefan Schaal

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vi Contents

Chapter 7 Humanoid Locomotion and the Brain . . . . . . . . . . . . . . . . . . . . . . . . . . 153

Jun Morimoto

Chapter 8 Humanoid Motor Control: Dynamics and the Brain . . . . . . . . . . . . . . 183

Sang-Ho Hyon

SECTION III Leaping Forward: Toward Cognitive

Humanoid Robots

Chapter 9 Learning from Examples: Imitation Learning and

Emerging Cognition. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .233
Yasuo Kuniyoshi

Chapter 10 Toward Language: Vocalization by Cognitive

Developmental Robotics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 251
Minoru Asada

Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 275
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Series Preface
The Frontiers in Neuroengineering series presents the insights of experts on emerging
experimental techniques and theoretical concepts that are or will be at the vanguard
of neuroscience. Books in the series cover topics ranging from electrode design meth-
ods for neural ensemble recordings in behaving animals to biological sensors. The
series also covers new and exciting multidisciplinary areas of brain research, such
as computational neuroscience and neuroengineering, and describes breakthroughs
in biomedical engineering. The goal is for this series to be the reference that every
neuroscientist uses to become acquainted with new advances in brain research.
Each book is edited by an expert and consists of chapters written by leaders in a
particular field. The books are richly illustrated and contain comprehensive bibliogra-
phies. The chapters provide substantial background material relevant to the particular
subject.
We hope that, as the volumes become available, our efforts as well as those of the
publisher, the book editors, and the individual authors will contribute to the further
development of brain research. The extent to which we achieve this goal will be de-
termined by the utility of these books.

Sidney A. Simon, Ph.D

Series Editor

vii
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The Editor
Gordon Cheng holds the Chair of Cognitive Systems, Founder and Director of Insti-
tute for Cognitive Systems, at the Technical University of Munich. From 2002–2008,
he was the Head of the Department of Humanoid Robotics and Computational Neu-
roscience, ATR Computational Neuroscience Laboratories, Kyoto, Japan. He was
the Group Leader for the newly initiated JST International Cooperative Research
Project (ICORP), Computational Brain. He has also been designated as a Project
Leader/Research Expert for the National Institute of Information and Communica-
tions Technology (NICT) of Japan. He is also involved (as an adviser and as an
associated partner) in a number of major European Union projects.
He held fellowships from the Center of Excellence (COE), Science and Technology
Agency (STA) of Japan (1998–2002). Both of these fellowships were taken at the Hu-
manoid Interaction Laboratory, Intelligent Systems Division at the Electro Technical
Laboratory (ETL), Japan. At ETL he played a major role in developing a completely
integrated humanoid robotics system. He received his Ph.D. in systems engineering
(in 2001) from the Department of Systems Engineering, The Australian National
University, and his Bachelor and Master degrees in computer science (respectively
in 1991 and 1993) from the University of Wollongong, Australia. He has extensive
industrial experience in consultancy as well as contractual development of large soft-
ware systems. From 1994–2001, he was also the Director of G.T.I. Computing, a
company he founded, which specializes in networking and transport management
systems in Australia.
His research interests include humanoid robotics, cognitive systems, neuroengi-
neering, real-time network robot control, brain–machine interfaces, biomimetics of
human vision, computational neuroscience of vision, action understanding, human–
robot interaction, active vision, mobile robot navigation, and object-oriented software
construction.

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Contributors
Gordon Cheng, Ph.D.
Institute for Cognitive Systems
Technische Universität München
München, Germany
Sang-Ho Hyon, Ph.D.
Department of Robotics
College of Science and Technology
Ritsumeikan University
Kyoto, Japan
Jun Morimoto, Ph.D.
Department of Brain Robot
Interface(BRI)
ATR Computational Neuroscience
Laboratories
Kyoto, Japan
Erhan Öztop, Ph.D.
Computer Science Department
Ozyegin University
Istanbul, Turkey
and
Advanced Telecommunication
Research Institute International
Kyoto, Japan
and
Biological ICT group
National Institute of Information and
Communications Technology
Kyoto, Japan
Tetsunari Inamura, Ph.D.
The Graduate University for
Advanced Studies
National Institute of Informatics
Tokyo, Japan
Michael Mistry, Ph.D.
School of Computer Science
University of Birmingham
Birmingham, United Kingdom
Aleš Ude, Ph.D.
Laboratory of Humanoid and
Cognitive Robotics
Jožef Stefan Institute
Ljubljana, Slovenia
Stefan Schaal, Ph.D.
Computational Learning and Motor
Control Lab
University of Southern California
Los Angeles, USA
Helge Ritter, Ph.D.
Faculty of Technology and Excellence
Cluster Cognitive Interaction
Technology (CITEC)
Bielefeld University
Bielefeld, Germany
Robert Haschke, Ph.D.
Faculty of Technology and Excellence
Cluster Cognitive Interaction
Technology (CITEC)
Bielefeld University
Bielefeld, Germany
Yasuo Kuniyoshi, Ph.D.
Department of Mechano-Informatics
School of Information Science
and Technology
The University of Tokyo
Tokyo, Japan
Minoru Asada, Ph.D.
Department of Adaptive
Machine Systems
Graduate School of Engineering
Osaka University
Osaka, Japan

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xii Contributors

Yoshihiko Nakamura, Ph.D. Yu Shimizu, Ph.D.

Department of Mechno-Informatics
School of Information Science
and Technology
The University of Tokyo
Tokyo, Japan
Emre Ugur, Ph.D.
Institute of Computer Science
University of Innsbruck
Innsbruck, Austria
and
Advanced Telecommunication
Research Institute International
Kyoto, Japan
and
Biological ICT group
National Institute of Information and
Communications Technology
Kyoto, Japan
Biological ICT group
National Institute of Information and
Communications Technology
Kyoto, Japan
and
Neural Computation Unit
Okinawa Institute of Science
and Technology
Graduate University
Okinawa, Japan
Hiroshi Imamizu, Ph.D.
Department of Cognitive Neuroscience
ATR Cognitive Mechanisms
Laboratories
Kyoto, Japan
and
Center for Information and
Neural Networks
National Institute of Information and
Communications Technology
Kyoto, Japan
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Section I
Humanoid Robotics Perspective
to Neuroscience
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1 Humanoid Robotics and

Neuroscience: Science,
Engineering, and Society
Gordon Cheng

CONTENTS
1.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.1.1 Our Research Paradigm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.1.2 Robots in the Real World . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.1.2.1 Entertainment Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.1.3 Humanoid Robots in Research . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.1.3.1 Humanoid Service Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.1.3.2 Humanoid Robots as Research Tools . . . . . . . . . . . . . . . . . . 9
1.1.3.3 Cognition and Social Interaction. . . . . . . . . . . . . . . . . . . . . . 10
1.1.3.4 Social Interaction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1.1.3.5 Humanoid Robot in Neuroscience . . . . . . . . . . . . . . . . . . . . 13
1.1.4 CB—Computational Brain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
1.1.4.1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
1.1.5 Research Platform—Hardware and Software Architecture . . . . . . . 15
1.1.5.1 Humanoid Robot—CB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
1.1.5.2 Sensing Subsystems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
1.1.5.3 Proprioceptive Sensing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
1.2 Software Control Architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
1.2.1 Onboard Computing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
1.2.1.1 Dynamic Simulation and Ubiquitous Interface . . . . . . 18
1.2.1.2 A Realistic Dynamic Simulator . . . . . . . . . . . . . . . . . . . . . . . 19
1.2.1.3 Ubiquitous Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
1.2.1.4 Architecture for Emulating Humanlike Processing . . 20
1.2.2 Humanlike Behaviors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
1.2.2.1 Humanlike Performance—Walking . . . . . . . . . . . . . . . . . . 21
1.2.2.2 Compliant Control: 3D Balancing and Physical
Interactions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
1.2.2.3 Perception—Visual Processing and Ocular–
Motor Responses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
1.3 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Acknowledgment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
References. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

3
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4 Humanoid Robotics and Neuroscience: Science, Engineering and Society

1.1 INTRODUCTION
Ever since the dawn of civilization, we as humans have been fascinated with machines
and devices that can replicate aspects of biology, in particular of ourselves. Some are
created for our entertainment, some to facilitate us in our daily lives, and historically
speaking some were even created for imitating the power of gods (religious relics)
[1]. The themes of these developments have gone in and out of trends in various
forms, but the most fundamental issues were to explore points toward the eventuation
of robotics as we know it today.
We are on the verge of a new era of rapid transformations in both science and
engineering, a transformation that brought together technological advancements in
a fusion that shall accelerate both science and engineering. This new transfor-
mation brings together scientists working under a new direction of robotic
research.
The utility of robots holds great promise not only in industrial automation; more
recently it has also been taken on by neuroscientists as a tool to aid in the dis-
covery of mechanisms in the human brain. In particular, with the emergence of
numerous advanced humanoid robots, unlike usual robotic systems, these are
highly sophisticated humanlike machines equipped with humanlike sensory and
motor capabilities. These robots are now among us, contributing to our scientific
endeavors.
Aiming at better assisting mankind has motivated engineers to look more closely
at other scientific findings for the creation of innovative solutions that could better
co-exist in our common society.

1.1.1 OUR RESEARCH PARADIGM

In essence, here we advocate three essential interconnecting themes in our research
paradigm:

• In science: Building a humanlike machine and the reproduction of humanlike

behaviors can in turn teach us more about how humans deal with the world,
and the plausible mechanisms involved.
• In engineering: Engineers can gain a great deal of understanding through
the studies of biological systems, which can provide guiding principles for
developing sophisticated and robust artificial systems.
• For society: In so doing we will gain genuine knowledge toward the devel-
opment of systems that can better serve our society.

Such an approach will examine in depth various issues that go beyond the pure
engineering of a robot and will require the integration of multiple disciplines in
exploring and exploiting what has been learned from other fields such as philosophy,
neuroscience, psychology, and physiology among others. It is foreseeable that this
multidisciplinary integration approach will examine in depth:

• How do humans handle all different types of interaction with ease and in
such a competent manner?
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Humanoid Robotics and Neuroscience: Science, Engineering, and Society 5

Enhancing our quality of

Society life

Advancing our Science Engineering

understanding of human Improving and bettering
science technological
developments

FIGURE 1.1 Research paradigm: Science, engineering, and society. See color insert.

• How can such a rich system be built?

• What are the underlying mechanisms?
– What are the underlying processes and controls?
• How can we benefit from this approach?

1.1.2 ROBOTS IN THE REAL WORLD

Recently robots have been moving off the factory floors and into our homes. Possibly
one day these robotic systems will help us in our daily lives, also as ideal research tools.
During the late 1990s a revitalization of interest in the building of humanlike robots
has emerged. This resurgence of interest has produced a vast number of spectacular
humanoid systems. Here we highlight some of these recent systems.

Behaviours Neuronal circuit/

functional units
Neuroscience/
Neuropsychology/
Neurobiology
Cognitive science

Providing organisational
Providing benchmarks structures
Humanoid
robotics Engineering building
blocks

Motor
control
Computer
science Engineering Material
sciences science

FIGURE 1.2 A multidisciplinary integration approach bringing together robotics and neu-
roscience.
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6 Humanoid Robotics and Neuroscience: Science, Engineering and Society

FIGURE 1.3 SONY robotic dog, AIBO. (Courtesy of SONY. With permission.)

1.1.2.1 Entertainment Robots

Electronic SONY was one of the biggest manufacturers who introduced one of the
first devices for home robot entertainment. In 1999, SONY introduced a four-legged
doglike robot, AIBO, into the mass market as companions for people. These small-
size entertainment (see Figure 1.3) robots have enjoyed worldwide acceptance. In
the 2000s, SONY introduced a humanlike robot as the next generation of entertain-
ment robots to the world (see Figure 1.4). It was a highly sophisticated integrated
system, equipped with stereo cameras for eyes, microphones for ears, and an array of
capabilities including walking and dancing [2].
Animatronics, one of the first nonindustrial companies in the area of animatronics,
and entertainment companies such as Disney and MGM Studios are just a few who

FIGURE 1.4 SONY humanoid robot SDR-4. (Courtesy of SONY. With permission.)
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Humanoid Robotics and Neuroscience: Science, Engineering, and Society 7

FIGURE 1.5 Iguana, an animatronics entertainment robot. (Courtesy of Stephen C. Jacobsen,

SARCOS. With permission.). An animatronics character in the form of an iguana, operates on
a daily basis at the RC Willey Restaurant.

have utilized robotic technology within part of the venue to entertain all ages. One
active group that has been supplying sophisticated robotic systems is the Utah com-
pany SARCOS. Their range of development includes full-body animatronics figures
that can produce realistic human motions. They have also developed robotic animals
from insects, singing birds, and iguanas (see, e.g., Figure 1.5) to full-size human
figures.
A SARCOS humanoid figure (see Figure 1.6) [3] was designed specifically for the
FORD Motor Company in 1995; this highly sophisticated system traveled to motor
shows across North America and Europe from 1995 to 1997.

1.1.3 HUMANOID ROBOTS IN RESEARCH

In this section we present some existing humanoid systems in research and briefly
outline some of their approaches and achievements.
In December 1996, one of the highest impacts to robotics in recent times was made
by the Japanese motor company Honda Motor Co., Ltd.: the release and announce-
ment of a 15-year project which produced a full-size humanoid robotic system (see
Figure 1.7) that was able to walk autonomously and climb stairs [4, 5]. This level
of achievement set a standard for the engineering of highly sophisticated humanoid
robots for years to follow.

1.1.3.1 Humanoid Service Robots

One avenue of humanoid research has been considering humanoids as ideal service
robots. Taking the view that much of our everyday environment has been specifically
designed for the use of humans, these humanlike robots would ideally be suitable
for performing daily chores usually done by humans. This type of robot has been
considered to be the most suitable to assist mankind with daily activities.
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8 Humanoid Robotics and Neuroscience: Science, Engineering and Society

FIGURE 1.6 The FORD. (Courtesy of Stephen C. Jacobsen, SARCOS. With permission.)

The humanoid robot ARMAR (see Figure 1.8a) is a series of humanoid robots
developed at the Karlsruhe Institute of Technology (KIT) [6, 7]. It was developed in
targeting the introduction of such robots in the kitchen environment; for instance, it
is even capable of loading dishes in a dishwasher.
The humanoid robot HERMES (see Figure 1.8b), developed by the Institute of
Measurement Science, Bundeswehr University Munich, Germany [8, 9] provided an-
other interesting aspect of service robots; one of the primary aspects of this particular
system is that they aim for reliability. This system is able to text-to-speech interface.
The AMI humanoid robot from the Korea Advanced Institute of Science and Tech-
nology (KAIST) [10] is a humanoid that is capable of a few household tasks, such as
vacuuming (see Figure 1.8c).
At a further extreme both the Japanese and the Korean governments have decided
to support projects related to humanoid robots that can facilitate society. A five–year
project supported by the Ministry of Economy, Trade and Industry (METI) through
the New Energy and Industrial Technology Development Organization (NEDO) of
Japan, the Humanoid Robotics Project (HRP) was established to investigate possi-
ble “applications” for humanoid robots. They set out to examine five scenarios: (1)
maintenance tasks of industrial plants, (2) teledriving of construction machines, (3)
security service at home and office, (4) taking care of patients, and (5) cooperative
works in the open air [11, 12]. The total robotic system was designed and integrated by
Kawada Industries, Inc. together with the Humanoid Research Group of the National
Institute of Advanced Industrial Science and Technology (AIST) [13].
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Humanoid Robotics and Neuroscience: Science, Engineering, and Society 9

FIGURE 1.7 Humanoid robots P3 and ASIMO (Advance). (Courtesy of HONDA. With
permission.)

The NASA Johnson Space Center in the United States is developing a humanoid
upper body robot for use in space. They have designed the humanoid robot, Robonaut
[14]. The primary objective of this system is to perform extravehicular activity (EVA).
This sets the scene for future service robots in space.

1.1.3.2 Humanoid Robots as Research Tools

Although most robotic systems presented here are from research laboratories, many
of them aim not just to build humanoid robots for the sake of constructing better
machines. A number of these research laboratories are investigating issues beyond

FIGURE 1.8 Service-style humanoid robots. (a): ARMAR. (Courtesy of Tamim Asfour.
With permission.); (b) HERMES. (Courtesy of Rainer Bischoff. With permission.); (c) AMI
humanoid robot. (Courtesy of Hyun S. Yang, KAIST. With permission.)
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November 14, 2014 10:11 K16584 93665˙C001

10 Humanoid Robotics and Neuroscience: Science, Engineering and Society

FIGURE 1.9 The ETL-Humanoid system. (Courtesy of Yasuo Kuniyoshi. With permission.)
See color insert.

the engineering of systems; exploration is also underway in areas such as intelli-

gent/cognition as well as basic science (thus, the research paradigm of “understanding
through creating”).

1.1.3.3 Cognition and Social Interaction

The MIT project, COG [15], was one of the first and noticeable groups that proposed
to set out with the ambition of creating a humanoid robot that exhibits various aspects
of “cognition” [16], ranging from basic visual and auditory attention [17], through
various aspects of childlike development [18]. Following a similar research approach,
in the work of Kawamura et al., they have been gradually building a humanoid system
that has similar cognitive ability to that of humans; their main goal is to develop a
system that can support elderly patients [19].
Around the end of the 2000s, a multimodal interactive humanoid system was
developed as a platform for the study of humanoid interaction [20]. The system,
ETL-Humanoid (see Figure 1.9), was developed at the ElectroTechnical Laboratory
(ETL) in Japan during the period of 1996–2001 [21]. This system was designed as a
research tool for exploring general principles of intelligent systems through interac-
tion with the changing world. Interactions involving visual, auditory, and the physical
all form part of its integration; one noticeable work yielded complex and meaningful
interaction with a human through exploiting a continuous sensory–motor cooperative–
competitive integration architecture, which demonstrated continuous adaptivity, re-
dundancy, and flexibility [22].
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November 14, 2014 10:11 K16584 93665˙C001

Humanoid Robotics and Neuroscience: Science, Engineering, and Society 11

FIGURE 1.10 Babybot from the LiraLab. (Courtesy of Giorgio Metta. With permission.)

At the same time, the LiraLab at the University of Genoa, Italy was attempting
to combine ideas from human development in the construction of their humanlike
system, Babybot (see Figure 1.10) [23]. Their robot learns through stages of develop-
ment to perform the basic task of reaching. One especially interesting feature of this
system is that the vision processing is performed through the use of a log-polarlike
CMOS camera, having pixels arranged in a configuration emulating that of the human
retina, from the center to the periphery in dense to sparse pixel arrangements. This
emulation shows that computation and information flow can be reduced, providing
the same visual capabilities as these of a child. Their approach makes a detailed at-
tempt in providing and demonstrating benefits of emulating details of biology in the
development of a sophisticated human-like robot [24].
A noticeable followup to the Babybot project is the European project RoboCub.
This integrated project aimed to develop a 3.5-year–old child-sized humanoid robot,
the iCub (see Figure 1.11), for the study of cognition through its implementation
of cognitive capabilities similar to those of a child [25]. Unlike many past projects,
this 5-year–long project continued to provide iCub as a humanoid robotic platform
for research; more than 20 iCub robots have been deployed in facilitating research
worldwide.

1.1.3.4 Social Interaction

One noticeable work in the area of social interaction is by a group in Japan. Investigat-
ing the use of robots to interact with autistic children, their aim or wish is ultimately
to draw out children with identifiable social defects and teach them to interact in
more humanlike ways. The robot is called “Infanoid” (see Figure 1.12) [26] and was
developed as a tool for this purpose. Preverbal communication in infants, that is, using
nonverbal means (e.g., gaze, gestures, etc.), plays a crucial role in human communica-
tion development. Children with autism who show typical communication disorders
cannot use these preverbal communication skills, which leads to serious impairment
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November 14, 2014 10:11 K16584 93665˙C001

12 Humanoid Robotics and Neuroscience: Science, Engineering and Society

FIGURE 1.11 The iCub humanoid robot (iCub at the TUM-ICS lab). See color insert.

FIGURE 1.12 Infanoid. (Courtesy of Hideki Kozima. With permission.)

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November 14, 2014 10:11 K16584 93665˙C001

Humanoid Robotics and Neuroscience: Science, Engineering, and Society 13

FIGURE 1.13 ATR humanoid robot, DB (co-developed with SARCOS during the JST
Kawato Dynamic Brain Project). (Courtesy of Stefan Schaal. With permission.)

in social abilities and verbal communication. The aim of this ongoing project is to
understand the mechanism/development of human communication.

1.1.3.5 Humanoid Robot in Neuroscience

The Advance Telecommunication Research Institute was the first to propose that
a humanoid robot could actually contribute to neuroscience studies. In their work
they demonstrated several aspects of humanlike learning, and were successful in
applying these to humanoid robots [27]. The humanoid robot, DB (dynamic brain),
was specifically developed for this purpose (see Figure 1.13). The success of this
work set an important landmark in the application of scientific interchange between
engineers and neuroscientists.

1.1.4 CB—COMPUTATIONAL BRAIN

Following the guiding principles above, a 50-degrees-of-freedom humanoid robot,
CB, computational brain, was realized. CB is a humanoid robot created for exploring
the underlying processing of the human brain while dealing with the real world.
We place our robotic 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.
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November 14, 2014 10:11 K16584 93665˙C001

14 Humanoid Robotics and Neuroscience: Science, Engineering and Society

FIGURE 1.14 The humanoid robot CB (computational brain).

We present the real-time network-based architecture for the control of all 50

degrees-of-freedom. 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 chapter (1) physical power for
walking; (2) full-body compliant control, physical interactions; and (3) perception
and control, visual ocular–motor responses.
Our objective is to produce a richly integrated platform for the investigation of hu-
manlike information processing, exploring the underlying mechanisms of the human
brain in dealing with the real world. In this chapter, we present a humanoid robotic
system, a platform created to facilitate our studies.
Our focus is toward the understanding of humans, more specifically the human
brain, and its underlying mechanisms in dealing with the world. We believe that
a humanoid robot that is closer to a human being will facilitate this investigation.
Such a sophisticated system will impose the appropriate constraints by placing our
exploration within the context of human interactions and human environments. As a
result, a full-size humanoid robot CB (computational brain) was built to match closely
the physical capability of a human, thus making it suitable for the production of a
variety of humanlike behaviors, utilizing algorithms that originate in computational
neuroscience.

1.1.4.1 Outline
The following sections describe the physical robotic system and the supporting soft-
ware control architecture used in our research. We present experimentally three
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November 14, 2014 10:11 K16584 93665˙C001

Humanoid Robotics and Neuroscience: Science, Engineering, and Society 15

Distributed vision processing

Auditory processing
Learning modules

Wireless connection
(video/audio signals)

Remote distributed processing modules

Task Control Process

Network connection for debugging/testing

On-board Processor

Motor Control Process

Network 1: right leg/neck

Network 2: left leg/torso

Network 3: right arm/right eye

Network 4: left arm/left eye

Left/right Hands

On-board processing modules

FIGURE 1.15 Overview of the CB research platform and setup, providing full support for
local processing for robot sensing and motor control, also showing that demanding high-level
processes are dealt with using remote distributed processors.

aspects of our system: (1) adequate performance; (2) force controllability; and (3)
perceptual abilities of our humanoid system.

1.1.5 RESEARCH PLATFORM —HARDWARE AND SOFTWARE ARCHITECTURE

In this section, a presentation of the hardware and software architecture of our research
platform, CB, is presented. An overview of the setup is depicted in Figure 1.15, Table
1.1 which, presents the overall technical specifications of the system and explains
their corresponding biological counterparts.
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16 Humanoid Robotics and Neuroscience: Science, Engineering and Society

TABLE 1.1
Overall Specification of Humanoid Robot—CB
Degrees of Freedom 50 in Total
Actively compliant Arms/Legs/Torso/Neck (34 DOFs)
Passively compliant Fingers/Eyes (16 DOFs)
Weight 92Kg
Height 157.5cm
Orientation sensors 2 × 6 DOF (translational and
rotational)
Foot force sensors 2 × 6 DOF (left and right)
Onboard computer Arbor PC-104 plus Em104P-
i7013/PM1400 1.4 GHz Intel
Pentium-M Processor
Cameras 2× ELMO MN42H 17mm O.D.
(Peripheral)/2× ELMO QN42H 7mm
O.D. (Foveal)
Microphones 2× SHURE Model MX180
Central body parts of the humanoid
robot
Forming two hands for manipulation
Average person
Emulating the vestibular system
Ground contact detection
Acting as the motor controller of the
whole system, emulating the role of
the spinal column
Emulating both the peripheral and
foveal human visual systems
Emulating human binaural hearing
system

1.1.5.1 Humanoid Robot—CB

The humanoid robot CB was designed with the general aim of developing a system
capable of achieving human capabilities, especially in its physical performance. CB,
the physical system, is of general human form; the following sections present the
basics of the system.

1.1.5.1.1 Mechanical Configuration

CB is a full-body humanoid robot. It is approximately 157.5 cm in height and approx-
imately 92 kg in weight. It has an active head system with 7 degrees of freedom (2 ×
2 degrees-of-freedom eyes, 1 × 3 degrees-of-freedom neck), 2 × 7 degrees-of-
freedom arms, 2 × 7 degrees-of-freedom legs, 1 × 3 degrees-of-freedom torso, and
2 × 6 degrees-of-freedom hands (see Figure 1.3), 50 degrees of freedom in total (see
Figure 1.1). The system has similar ranges of motion and physical performance as
a human person (as guided by human factors studies [19]). The system is able to
perform saccadic eye movements at up to 3 Hz (similar to that of humans). The hands
(as shown Figure 1.3) have been developed to provide basic functionality such as
grasping, pointing, and pinching.

1.1.5.2 Sensing Subsystems

The active head houses a set of inertial sensors (three-axis rotational gyro, three-
axis translational accelerometer). They are used to emulate the human vestibular
system (the inner ear), providing head orientation, as used for gaze-stabilization. An
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6522 Hicks I
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33 Aug
6625 Hughes Henry
A 23
34 Aug
6639 Henricks E
H 23
Aug
6647 Hartman I 2K
23
Aug
6793 Herrig N Cav 7D
25
Aug
6802 Hine T E “ 2D
25
7022 Hull O 89 Aug
B 27
23 Aug
7388 Hubbell W A
A 31
72 Sept
7446 Hurdnell O
C 1
100 Sept
7825 Holley V H, S’t
B 4
12 Sept
7946 Hughes I
E 5
115 Sept
8060 Herbolt Dan’l
T 7
60 Sept
8067 Harper I H
I 7
12 Sept
8284 Halshult A
C 9
36 Sept
8481 Hechler John
G 11
34 Sept
8696 Hitchcock G
G 14
86 Sept
8725 Hifner G
C 14
Sept
9189 Hoyt R 7K
18
10 Sept
9210 Hart E
H 19
126 Sept
9538 Hall S
F 20
13 Sept
9415 Hood F
F 21
13 Sept
9510 Hamilton J
A 22
18 Sept
9582 Hoover J
K 23
9622 Hurley J C 124 Sept
 C 23
135 Sept
10094 Holmes Wesley 64
F 30
Oct
10207 Harrison J Cav 2A
2
Oct
10208 Holcomb L 7 I
2
60 Oct
10225 Harkins M
D 2
72 Oct
10390 Hinton Wm
A 5
32 Oct
10492 Hererlin B
- 7
Oct
10518 Herbert Wm 4 I
8
110 Oct
10524 Homich C
D 8
135 Oct
10647 Herman R
F 11
98 Oct
11029 Hilyard J
F 16
Oct
11032 Hubber D 5A
16
Oct
11053 Heymers B 2G
17
123 Oct
11209 Hanard J B
C 20
29 Oct
11288 Hoyt W B
A 20
122 Oct
11335 Henderson D
H 23
Oct
11588 Hintz D 1B
28
135 Oct
11592 Hutchins G W
A 28