Dav: A Humanoid Robot Platform for Autonomous Mental Development

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ICDL '02 Proceedings of the 2nd International Conference on Development and Learning
Year:
2002

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Abstract

A humanoid robot, Dav, is developed at MSU as a test-bedfor experimental investigations into autonomous mentaldevelopment.This general-purpose humanoid platformconsists of a total of 43 degrees of freedom (DOF), includingdrive base, torso, arms, hands, neck and head.The bodymay support a wide array of locomotive and manipulativebehaviors.For perception, Dav is equipped with a varietyof sensing systems, including visual, auditory and hapticsensors.Its computational resource is totally onboard, includingquadruple Pentium III plus PowerPCs, large memory and storage, networks, and long-sustention power supply.We discuss major design issues of a developmental humanoidand the design characteristics of the Dav robot in this paper.