2004 First year Project inauguration

2005 Second year

Hydraulically-driven human-size humanoid robot Completion of CB-i prototype Researchers traveled to SARCOS and were involved in the development JST-ICORP/ATR/CMU joint workshop held

2006 Third year

Group reorganization Humanoid Cognitive System Group Humanoid Motor Learning Group Humanoid Neuroscience Group Development of walking control on CB-i by coupled oscillator model Completion of force control system for CB-I and development of balance control system based on it Tracking of objective trajectories in task space coordination system and development of acquisition method of inverse kinematics model Realization of ball swapping by imitation learning

2007 Fourth year

Completion of a humanoid robot: CB-i

Development of learning algorithm for biped locomotion Development of balance control algorithm based on force control system under unknown environments Realization of balance control on a small-size humanoid robot by imitation learning JST-ICORP/ATR/CMU joint workshop held BMI experiment of real-time walking trajectory generation using monkeyfs brain activity. Collaboration study with Duke University. Appeared in New York Times as worldfs first BMI technology, press release

2008 Fifth year

Development of feature extraction algorithm for motor learning Development of balance strategy including stepping motion to adopt dynamical perturbation Development of visuomotor learning conversion system for CB-i Development of batting control system using balance control and vision system of CB-i, broadcasted on NHK program

Project completion symposium held Integration and implementation of developed cognitive and control systems on humanoid robot CB-i Lecture for press held gThe worldfs most advanced humanoid robot that interacts with the brain, body, and its environmenth