[{{media:hcmi:180px-Troy1.jpg|thumbnail|TROY Robot}}] 
This is a home-grown torso-only humanoid robot, designed and built in the Mechanical Engineering department. The arms of the robot resemble real human arms. The head of the robot is a monitor, so the robot is capable of showing animated expressions (emoticons). The head can also be rotated, so we have the choices of a wide, short head and a thin, tall head.

== Research Objectives ==
* How can a humanoid robot assist in treating children with Autism in clinical settings?
* Can a machine-look-like humanoid robot (loosely resemble a human) help develop autistic children's capabilities in '''joint attention'''?
* How can a therapist "program" the robot in preparation for clinical sessions using a skill/behavior based '''interactive learning interface'''?
* What '''interface techniques''' help the therapists interact with the robot to better treat children with Autism?

== Robot Specifications ==
=== Sensors ===
Existing Sensors:
* '''Visual Sensor''': The monitor (head) has webcam built-in. Enables computer vision algorithm to identify patterns.
* '''Audio Sensor''': The monitor (head) has mic built-in. Possibly voice commands.
Possible Sensors:
* '''Audio Sensor''': We could add two mics (as ears) for audio signals detection from different directions.
* '''Range Sensor''': We could add an infrared proximity sensor to detect object distances and trigger events when object is close.
* '''Position Sensor''' (wii remotes): Detects locations of the operator's elbows, wrists, etc. The therapist will be holding the wii remotes.
* '''Motion Sensor''' (wii remote): Detects the direction of movement from the operator.

=== Actuators ===
Existing Actuators:
* '''Arm movements''': Up, down, in, out. 1-DOF elbow and 3-DOF shoulder.
* '''Head/neck movements''': Turn left/right, lean left/right, raise head up/down. 2-DOF neck.
* '''Display''': Monitor (head) can display emotions and expressions.
Possible Actuators:
* '''Speaker''': make sounds or speech

=== Processor ===
* Processing is all done on a standalone laptop.

=== Communication ===
* Laptop communicates with the robot through a serial cable because USB is too slow.

== Robot Skills/Behaviors ==
=== Existing skills/behaviors ===
* Body movements: Arm, head/neck.
=== Possible skills/behaviors ===
* Cognitive behaviors: Imitate
* Gestures: Nod, shake heads, wave, YMCA, flux muscles
* Movements: Point at, reach out
* Sounds: Make sounds/noises, speak
* Emotions: Excited (arms up and moving left and right), scared (leaning backward with arms covering face)
* Cognitive behaviors: find face, learn to identify objects, identify direction of sound source
* Social behaviors: Keep gaze on person in front, briefly turn to check out visual/sound changes (curiosity)

=== Desired skills/behaviors ===
(Please add here...)