P1:RAZI November18,2014 9:20 K16584 93665˙C000 P1:RAZI November18,2014 9:20 K16584 93665˙C000 P1:RAZI November18,2014 9:20 K16584 93665˙C000 CRC Press Taylor & Francis Group 6000 Broken Sound Parkway NW, Suite 300 Boca Raton, FL 33487-2742 © 2015 by Taylor & Francis Group, LLC CRC Press is an imprint of Taylor & Francis Group, an Informa business No claim to original U.S. Government works Version Date: 20141113 International Standard Book Number-13: 978-1-4200-9367-4 (eBook - PDF) This book contains information obtained from authentic and highly regarded sources. While all reasonable efforts have been made to publish reliable data and information, neither the author[s] nor the publisher can accept any legal responsibility or liability for any errors or omissions that may be made. The publishers wish to make clear that any views or opinions expressed in this book by individual editors, authors or contributors are personal to them and do not necessarily reflect the views/opinions of the publishers. The information or guidance contained in this book is intended for use by medical, scientific or health-care professionals and is provided strictly as a supplement to the medical or other professional’s own judgement, their knowledge of the patient’s medical history, relevant manufacturer’s instructions and the appropriate best practice guide- lines. Because of the rapid advances in medical science, any information or advice on dosages, procedures or diagnoses should be independently verified. The reader is strongly urged to consult the relevant national drug formulary and the drug companies’ printed instructions, and their websites, before administering any of the drugs recommended in this book. This book does not indicate whether a particular treatment is appropriate or suitable for a particular individual. Ultimately it is the sole responsibility of the medical pro- fessional to make his or her own professional judgements, so as to advise and treat patients appropriately. The authors and publishers have also attempted to trace the copyright holders of all material reproduced in this publication and apologize to copyright holders if permission to publish in this form has not been obtained. If any copyright material has not been acknowledged please write and let us know so we may rectify in any future reprint. Except as permitted under U.S. Copyright Law, no part of this book may be reprinted, reproduced, transmit- ted, or utilized in any form by any electronic, mechanical, or other means, now known or hereafter invented, including photocopying, microfilming, and recording, or in any information storage or retrieval system, without written permission from the publishers. For permission to photocopy or use material electronically from this work, please access www.copyright. com (http://www.copyright.com/) or contact the Copyright Clearance Center, Inc. (CCC), 222 Rosewood Drive, Danvers, MA 01923, 978-750-8400. CCC is a not-for-profit organization that provides licenses and registration for a variety of users. For organizations that have been granted a photocopy license by the CCC, a separate system of payment has been arranged. Trademark Notice: Product or corporate names may be trademarks or registered trademarks, and are used only for identification and explanation without intent to infringe. Visit the Taylor & Francis Web site at http://www.taylorandfrancis.com and the CRC Press Web site at http://www.crcpress.com P1:RAZI November18,2014 9:20 K16584 93665˙C000 Contents SeriesPreface.............................................................vii TheEditor................................................................ix Contributors...............................................................xi SECTION I Humanoid Robotics Perspective to Neuroscience Chapter1 HumanoidRoboticsandNeuroscience:Science Engineering,andSociety........................................3 GordonCheng Chapter2 HumanoidBrainScience.......................................29 ErhanOztop,EmreUgur,YuShimizu,andHiroshiImamizu SECTION II Emulating the Neuro-Mechanisms with Humanoid Robots Chapter3 Hands,Dexterity,andtheBrain.................................49 HelgeRitterandRobertHaschke Chapter4 StochasticInformationProcessingthatUnifiesRecognition andGenerationofMotionPatterns:TowardSymbolical UnderstandingoftheContinuousWorld.........................79 TetsunariInamuraandYoshihikoNakamura Chapter5 FovealVisionforHumanoidRobots...........................103 AlesUde Chapter6 RepresentationandControloftheTaskSpaceinHumans andHumanoidRobots........................................121 MichaelMistryandStefanSchaal v P1:RAZI November18,2014 9:20 K16584 93665˙C000 vi Contents Chapter7 HumanoidLocomotionandtheBrain..........................153 JunMorimoto Chapter8 HumanoidMotorControl:DynamicsandtheBrain..............183 Sang-HoHyon SECTION III Leaping Forward: Toward Cognitive Humanoid Robots Chapter9 LearningfromExamples:ImitationLearningand EmergingCognition..........................................233 YasuoKuniyoshi Chapter10 TowardLanguage:VocalizationbyCognitive DevelopmentalRobotics.....................................251 MinoruAsada Index...................................................................275 P1:RAZI November18,2014 9:20 K16584 93665˙C000 Series Preface TheFrontiersinNeuroengineeringseriespresentstheinsightsofexpertsonemerging experimentaltechniquesandtheoreticalconceptsthatareorwillbeatthevanguard ofneuroscience.Booksintheseriescovertopicsrangingfromelectrodedesignmeth- ods for neural ensemble recordings in behaving animals to biological sensors. The series also covers new and exciting multidisciplinary areas of brain research, such as computational neuroscience and neuroengineering, and describes breakthroughs in biomedical engineering. The goal is for this series to be the reference that every neuroscientistusestobecomeacquaintedwithnewadvancesinbrainresearch. Eachbookiseditedbyanexpertandconsistsofchapterswrittenbyleadersina particularfield.Thebooksarerichlyillustratedandcontaincomprehensivebibliogra- phies.Thechaptersprovidesubstantialbackgroundmaterialrelevanttotheparticular subject. Wehopethat,asthevolumesbecomeavailable,oureffortsaswellasthoseofthe publisher,thebookeditors,andtheindividualauthorswillcontributetothefurther developmentofbrainresearch.Theextenttowhichweachievethisgoalwillbede- terminedbytheutilityofthesebooks. SidneyA.Simon,Ph.D SeriesEditor vii TThhiiss ppaaggee iinntteennttiioonnaallllyy lleefftt bbllaannkk P1:RAZI November18,2014 9:20 K16584 93665˙C000 The Editor GordonChengholdstheChairofCognitiveSystems,FounderandDirectorofInsti- tuteforCognitiveSystems,attheTechnicalUniversityofMunich.From2002–2008, hewastheHeadoftheDepartmentofHumanoidRoboticsandComputationalNeu- roscience, ATR Computational Neuroscience Laboratories, Kyoto, Japan. He was the Group Leader for the newly initiated JST International Cooperative Research Project (ICORP), Computational Brain. He has also been designated as a Project Leader/Research Expert for the National Institute of Information and Communica- tions Technology (NICT) of Japan. He is also involved (as an adviser and as an associatedpartner)inanumberofmajorEuropeanUnionprojects. HeheldfellowshipsfromtheCenterofExcellence(COE),ScienceandTechnology Agency(STA)ofJapan(1998–2002).BothofthesefellowshipsweretakenattheHu- manoidInteractionLaboratory,IntelligentSystemsDivisionattheElectroTechnical Laboratory(ETL),Japan.AtETLheplayedamajorroleindevelopingacompletely integratedhumanoidroboticssystem.HereceivedhisPh.D.insystemsengineering (in 2001) from the Department of Systems Engineering, The Australian National University, and his Bachelor and Master degrees in computer science (respectively in1991and1993)fromtheUniversityofWollongong,Australia.Hehasextensive industrialexperienceinconsultancyaswellascontractualdevelopmentoflargesoft- ware systems. From 1994–2001, he was also the Director of G.T.I. Computing, a company he founded, which specializes in networking and transport management systemsinAustralia. His research interests include humanoid robotics, cognitive systems, neuroengi- neering, real-time network robot control, brain–machine interfaces, biomimetics of humanvision,computationalneuroscienceofvision,actionunderstanding,human– robotinteraction,activevision,mobilerobotnavigation,andobject-orientedsoftware construction. ix