No abstract

We describe the design of an anthropomorphic mbot, combining a binocular head, an ann and a hand, for rerearch in risuamotor coordination and learning by imitation. Our goal was to produce a system resembling the human arm-hand kinematics as closely as possible, while keeping it simple and relatively lowcost. We present mechanical details, kinematics and sensors together with a discussion of the main design options. We pment results with human-ann coordination, a5 well as imitation of a human demonstrator, in real time.