CB: a humanoid research platform for exploring neuroscience

Cheng, Gordon; Hyon, Sang-Ho; Morimoto, Jun; Ude, Aleš; Colvin, G. E.; Scroggin, Wayco; Jacobsen, Stephen C.

doi:10.1163/156855307781389356

Cited by 169 publications

(55 citation statements)

References 23 publications

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“…The processor's architecture in CHARLI is the same as DARwIn. CB uses the Arbor PC-104 Plus Em104P-i7013/PM1400 1.4-GHz Intel Pentium-M processor [34]. Mahru III [8] employs two CPU boards.…”

Section: Controllers Used In Humanoid Robotsmentioning

confidence: 99%

“…iCUB is based on a combination of a harmonic drive system (CSG series for major joints) and a brushless frameless motor (BLM) from Kollmorgen [26]. CB [34] uses hydraulic actuators [42]. Kenta and Kenshiro use MAXON brushless DC motors [36].…”

Section: Comparison Of Actuators Used In Humanoid Robotsmentioning

confidence: 99%

“…Similarly, a unique, cable-driven and highly compliant biologically-inspired robot design, the so-called ECCEROBOT, was presented in [51]. In another scenario, a neurobiological point of view of humanoid design was presented based on the flexible structure and their motor control units in [33], such as a 50 DOF humanoid called CB [34] and a 46 DOF ETL humanoid design [52].…”

Section: Bioinspired Musculoskeletal Design Approachmentioning

confidence: 99%

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HBS-1: A Modular Child-Size 3D Printed Humanoid

Larkin

Potnuru

et al. 2016

Robotics

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An affordable, highly articulated, child-size humanoid robot could potentially be used for various purposes, widening the design space of humanoids for further study. Several findings indicated that normal children and children with autism interact well with humanoids. This paper presents a child-sized humanoid robot (HBS-1) intended primarily for children's education and rehabilitation. The design approach is based on the design for manufacturing (DFM) and the design for assembly (DFA) philosophies to realize the robot fully using additive manufacturing. Most parts of the robot are fabricated with acrylonitrile butadiene styrene (ABS) using rapid prototyping technology. Servomotors and shape memory alloy actuators are used as actuating mechanisms. The mechanical design, analysis and characterization of the robot are presented in both theoretical and experimental frameworks.

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Section: Controllers Used In Humanoid Robotsmentioning

confidence: 99%

Section: Comparison Of Actuators Used In Humanoid Robotsmentioning

confidence: 99%

Section: Bioinspired Musculoskeletal Design Approachmentioning

confidence: 99%

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HBS-1: A Modular Child-Size 3D Printed Humanoid

Larkin

Potnuru

et al. 2016

Robotics

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“…Over the past two decades, a number of full-sized humanoid robots have been designed and realized: Hubo (Park et al, 2005), Honda P2/P3 (Hirai et al, 1998), HRP-series (Kaneko et al, 2008), CB (Cheng et al, 2007), LOLA (Lohmeier et al, 2009), TORO iteOtt2010 and ARMAR-4 (Asfour et al, 2013), just to name a few. All these humanoid robots are commonly human in size and achieve similar or greater human performance.…”

Section: Introductionmentioning

confidence: 99%

“…For instance, in hydraulic humanoid robots (Cheng et al, 2007;Alfayad et al, 2011), the high costs are created by the servo valves and the high machining tolerances associated with the pistons; whereas in electric humanoid robots, the main costs are in the motors, gearboxes, and motor controllers. In our current approach, we have elected to focus on electric actuated humanoid robots, as we believe that this approach provides us with the best opportunity of making a fullsized humanoid robot at the lowest price while at the same time keeping the same physical performance that other robots possess.…”

Section: Introductionmentioning

confidence: 99%

Herbert: Design and Realization of a Full-Sized Anthropometrically Correct Humanoid Robot

Pierce

Cheng

2015

Front. Robot. AI

Self Cite

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In this paper, we present the development of a new full-sized anthropometrically correct humanoid robot Herbert. Herbert has 33 DOFs: (1) 29 active DOFs (2 × 4 in the legs, 2 × 7 in the arms, 4 in the waist and 3 in the head) and (2) 4 passive DOFs (2 × 2 in the ankles). We present the objectives of the design and the development of our system, the hardware (mechanical, electronics) as well as the supporting software architecture that encompasses the realization of the complete humanoid system. Several key elements, that have to be taken into account in our approach to keep the costs low while ensuring high performance, will be presented. In realizing Herbert we applied a modular design for the overall mechanical structure. Two core mechanical module types make up the main structural elements of Herbert: (1) small compact mechanical drive modules and (2) compliant mechanical drive modules. The electronic system of Herbert, which is based on two different types of motor control boards and an FPGA module with a central controller, is discussed. The software architecture is based on ROS with a number of sub-nodes used for the controller. All these supporting components have been important in the development of the complete system. Finally, we present results showing our robot's performances: demonstrating the behavior of the compliant modules, the ability of tracking a desired position/velocity as well as a simple torque controller. We also evaluate our custom communication system. Additionally, we demonstrate Herbert balancing and squatting to show its performance. Moreover, we also show the simplicity of the higher level supporting software framework in realizing new behaviors. All in all, we show that our system is compact and able to achieve comparable human performances and has human proportions while being low cost.

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Bioinspired Liquid Metal Based Soft Humanoid Robots

Li,

Yuan,

et al. 2024

Advanced Materials

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The pursuit of constructing humanoid robots to replicate the anatomical structures and capabilities of human beings has been a long‐standing significant undertaking and especially garnered tremendous attention in recent years. However, despite the progress made over recent decades, humanoid robots have predominantly been confined to those rigid metallic structures, which however starkly contrast with the inherent flexibility observed in biological systems. To better innovate this area, the present article systematically explores the value and potential of liquid metals and their derivatives in facilitating a crucial transition towards soft humanoid robots. Through a comprehensive interpretation of bionics, we present an overview of liquid metals’ multifaceted roles as essential components in constructing advanced humanoid robots – functioning as soft actuators, sensors, power sources, logical devices, circuit systems, and even transformable skeletal structures. We conceived that the integration of these components with flexible structures, facilitated by the unique properties of liquid metals, can create unexpected versatile functionalities and behaviors to better fulfill human needs. Finally, we envision a revolution in humanoid robots, transitioning from metallic frameworks to hybrid soft‐rigid structures resembling that of biological tissues. This article is expected to provide fundamental guidance for the coming research, thereby advancing the area.This article is protected by copyright. All rights reserved

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CB: a humanoid research platform for exploring neuroscience

Cited by 169 publications

References 23 publications

HBS-1: A Modular Child-Size 3D Printed Humanoid

HBS-1: A Modular Child-Size 3D Printed Humanoid

Herbert: Design and Realization of a Full-Sized Anthropometrically Correct Humanoid Robot

Bioinspired Liquid Metal Based Soft Humanoid Robots

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