Baltazar
Used in various robotics projects, which were mostly biologically-inspired, Baltazar, a humanoid torso created by the Instituto de Sistemas e Robótica of Portugal in 2007, has come a long way since it was first developed.
Baltazar moves through a total of 14 degrees of freedom: four in its head, six in its arms, and four in its hands. Its visio-motor map system allows it to mimic human gestures. First it processes the gesture as an image, and then extracts the background to estimate the position of the body parts before it completely imitates the gesture to carry this out.
Baltazar is also capable of grasping using an open-loop and head-arm map, enabling it to draw its hand near the object to be grasped. This humanoid robot exhibits great flexibility in its movements, which is evident in its capability to perform a sequence of tasks.
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