We are pursuing a research program focused on developing a model of skill learning by imitation. The details of our research program are found here.
Adonis is a dynamic humanoid simulation consisting of eight rigid links connected with revolute joints of 1 and 3 DOF, totaling 20 DOF. The torso, which we use in most experiments, consists of 13 DOF. For details on Adonis and its control look here.
Two COSIMIR humanoid avatars. Each avatar has 65 DOF, consisting of: 3 DOF at the neck, each shoulder, each wrist, hip, and each ankle, and 1 DOF at each elbow, finger, and knee joint. The thumbs have 2 joints, the rest of the fingers have 3.