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Humanoid robots are the dream of many robotics researchers, and are often portrayed in visions of the future in science fiction stories. At the Intelligent Robotics Laboratory of the Center for Intelligent Systems at Vanderbilt University, the authors have been developing a humanoid system called the Intelligent Soft-Arm Control over the past several years. ISAC was originally developed for a robotic aid system for the physically disabled. It has since evolved into a test bed for human-humanoid interaction (HHI) research. This article describes ISAC's physical aspects, the foundations for a parallel, distributed robot control architecture called the Intelligent Machine Architecture, and some of the authors' HHI research. Two high-level IMA agents-the Self agent and the Human agent-are responsible for HHI. To demonstrate our approach's potential, we have implemented a handshaking demonstration.
agent-based system, Human agent, human-humanoid interaction, humanoid, Intelligent Machine Architecture, Intelligent Soft-Arm Control, Self agent.

W. A. Alford, R. A. Peters, K. Kawamura, D. M. Wilkes and T. E. Rogers, "ISAC: Foundations in Human-Humanoid Interaction," in IEEE Intelligent Systems, vol. 15, no. , pp. 38-45, 2000.
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