Dav: a humanoid robot platform for autonomous mental development

Author

Han, J.D. ; Zeng, S.Q. ; Tham, K.Y. ; Badgero, M. ; Weng, J.Y.

Author_Institution

Dept. of Comput. Sci. & Eng., Michigan State Univ., East Lansing, MI, USA

fYear

2002

fDate

2002

Firstpage

73

Lastpage

81

Abstract

A humanoid robot, called Dav, was developed at Michigan State University as a testbed for experimental investigations into autonomous mental development. This general-purpose humanoid platform consists of a total of 43 degrees of freedom (DOF), including a drive base, torso, arms, hands, neck and head. The body may support a wide array of locomotive and manipulative behaviors. For perception, Dav is equipped with a variety of sensing systems, including visual, auditory and haptic sensors. Its computational resources are totally on-board, including quadruple Pentium III+ PowerPCs, large memory and storage, networks, and a long-sustention power supply. We discuss major design issues of a developmental humanoid and the design characteristics of the Dav robot in this paper.

Keywords

cognitive systems; learning systems; microcomputer applications; mobile robots; robot vision; sensors; Dav; Pentium III+ PowerPC; android; arms; auditory sensors; autonomous mental development; degrees offreedom; developmental system; drive base; hands; haptic sensors; head; humanoid robot; locomotive behaviors; long-sustention power supply; manipulative behaviors; memory; neck; networks; onboard computational resources; perception; robot design characteristics; sensing systems; storage; torso; visual sensors; Arm; Autonomous mental development; Computer networks; Haptic interfaces; Humanoid robots; Neck; Sensor phenomena and characterization; Sensor systems; Testing; Torso;

fLanguage

English

Publisher

ieee

Conference_Titel

Development and Learning, 2002. Proceedings. The 2nd International Conference on

Print_ISBN

0-7695-1459-6

Type

conf

DOI

10.1109/DEVLRN.2002.1011800

Filename

1011800