Cog

Model: Cog

Cog is MIT Artificial Intelligence Laboratory's pedestal-mounted upper-body humanoid research platform, begun in 1993 to study cognition, visual-motor coordination and social learning through embodied interaction. MIT's original hardware page documents 22 mechanical degrees of freedom: two 6-DoF arms, 3-DoF torso, 4-DoF neck and 3 DoF across the eyes. Its arms use series-elastic actuators for force feedback and safer physical interaction. The project is inactive and was never sold as a commercial product.