interact with unfamiliar stimuli. The research also required Domo to be able to perceive and act upon its surroundings. Satisfying these concerns meant that Domo needed to be able to function without a complete model of the world, rather, it was equipped with the ability to build a model for itself. Mechanical parts Head Domo's robotic head consists of seven degrees of freedom (DOF) for the upper head which is attached to a neck with two DOF. There are two eyes, each with a single wide-angle camera. The cameras are capable of video capture at either 640×480 at 30 frames per second (frame/s) or 1024×768 at 15 frame/s. The two cameras tilt along the same DOF, but have individual DOF to allow for independent panning. A set of eyelids is included to use for expressions. Heads of previous robots, such as Cog, were impeded by the bundle of electrical cords that would run to the eye cameras and motors. Domo's design runs all the cables down through the neck so that they are tucked out of the way. This allows Domo a great deal of range and freedom in head articulation. The head movement is facilitated by brushed direct-current motors. Potentiometer position sensors in the motor provide feedback as to the head's absolute position at startup, so Domo does not require a calibration routine before being able to function. The main focus of the head design was for Domo to be able to emulate human eye movement. Human eye movements range from very quick and explosive movements to slow and accurate movements for following moving stimuli, so careful consideration was needed to design Domo's head and vision system. These eyes are linked to a cognitive system that is a networked cluster of Linux machines. The YARP software suite is utilized for the cognitive system to do visual processing. Arms Rather than designing Domo's arms for absolute precision, Edsinger and Weber designed the arms to work more closely to that of a human. Human arms are adept at sensing and controlling the forces at every joint, giving up precision in position for compliance. Translating this to a humanoid robot required the design to include some tolerance and compliance at every joint while also being able to keep track of and output torque. Domo's arms have six DOF, two at the shoulder and four in the arm and wrist. The joints are