Cog's Body and Motor Control |
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| Cog's Body and Motor Control MIT Artificial Intelligence Laboratory 545 Technology Square, #920 Cambridge, MA 02139 |
As discussed in the
section on our methodology, we believe that Cog's body can help Cog to behave like an
intelligent creature. Several distinctive qualities are important to Cog's body and motor
control. First, Cog has a body that is similar in shape, structure and degrees of freedom
to a human body. Second, the actuators that move Cog's body use series elastic actuators
which, among other benefits, ease the control of the body and make human interactions with
Cog safer. Third, Cog's actuators can be controlled in very effective ways using
non-linear oscillators, which are related to real neural oscillators in biology. These
oscillators let Cog take advantage of the natural dynamics of Cog's body and the world.
In total, Cog has twenty-one mechanical degrees-of-freedom (DOF); two sixDOF arms, a torso with a two degree-of-freedom (DOF) waist, a one DOF torsotwist, a three DOF neck, and three DOF in the eyes.
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Brought to you by, Matt Williamson
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