Cog

Another robot built at MIT, cog is a humanoid robot capable of playing drums, perform oscillatory arm movements, reaching to a visual target, reflex arm withdrawal , visual attention mechanism, visual features detection, face and eye detection, imitating head nods, head and neck orientation behaviors and eye movements (Brooks, 1998). Cog has a total of twenty one DOFs. Twelve DOF in two arms, two in waist, one in torso, three in neck and three in eyes. The ‘brain’ is a network of 200MHz industrial PC computers, while video and audio processing is performed by a separate network of digital signal processors. Also, each joint of the robot is driven by a separate motor controller.