The eMOSAIC model for humanoid robot control

  • Sugimoto N
  • Morimoto J
  • Hyon S
 et al. 
  • 58


    Mendeley users who have this article in their library.
  • 14


    Citations of this article.


In this study, we propose an extension of the MOSAIC architecture to control real humanoid robots. MOSAIC was originally proposed by neuroscientists to understand the human ability of adaptive control. The modular architecture of the MOSAIC model can be useful for solving nonlinear and non-stationary control problems. Both humans and humanoid robots have nonlinear body dynamics and many degrees of freedom. Since they can interact with environments (e.g., carrying objects), control strategies need to deal with non-stationary dynamics. Therefore, MOSAIC has strong potential as a human motor-control model and a control framework for humanoid robots. Yet application of the MOSAIC model has been limited to simple simulated dynamics since it is susceptive to observation noise and also cannot be applied to partially observable systems. Our approach introduces state estimators into MOSAIC architecture to cope with real environments. By using an extended MOSAIC model, we are able to successfully generate squatting and object-carrying behaviors on a real humanoid robot. © 2012 Elsevier Ltd.

Author-supplied keywords

  • Computational neuroscience
  • Humanoid robot
  • Modular architecture
  • Nonlinear and non-stationary control problem

Get free article suggestions today

Mendeley saves you time finding and organizing research

Sign up here
Already have an account ?Sign in

Find this document


  • Mitsuo Kawato Advanced Telecommunications Research Institute International

  • Norikazu Sugimoto

  • Jun Morimoto

  • Sang Ho Hyon

Cite this document

Choose a citation style from the tabs below

Save time finding and organizing research with Mendeley

Sign up for free