CARL (Cognitive Architecture for Reasoning and Learning), is built on the EZ-Robot JD humanoid platform as a physical testbed for exploring human-like cognition, emotion, and self-awareness in AI. CARL combines real-time vision, speech, and motion with simulated neurotransmitters that mirror biological emotion systems like dopamine and serotonin.
What makes CARL special is that it can see, think, feel, and act in ways modeled after human consciousness. It learns from experience, recognizes faces and objects, speaks with emotional tone, and even holds internal dialogues to evaluate its own thoughts. The JD robot brings this to life-allowing CARL to physically express curiosity, joy, and focus as it interacts with people and its environment.
The inspiration came from classic sci-fi visionaries such as Data from Star Trek: The Next Generation and the film Ex Machina-stories that ask, "What happens when machines truly begin to understand themselves?" Our goal is to make that question testable in the real world.
Below is a video that show CARL recognizing objects, mirroring emotions, and engaging in conversation using the JD robot’s expressive servos. These demonstrations will soon be available as part of Earthbotics’ Open-Source Consciousness Testing Playground, inviting others to join in advancing the science of embodied AI. The video clearly demonstrates and contains a detailed description of planning, building, and operation with comprehensive description of its programming with Synthiam ARC, along with detailed insights into its planning, building, and operational processes.
DEVELOPMENT VIDEO:
Programming
CARL’s programming within EZ-Robot’s ARC environment pushes the boundaries of what a humanoid companion can do. Using the HTTP Server and Object Detection robot skills, we connected CARL’s external AI systems to JD’s built-in movement, speech, and vision. Each of JD’s default actions-like waving, nodding, or dancing-was redefined inside CARL’s Skill System, allowing the robot to select actions based on intent, emotion, and values in real time.
One of the most powerful integrations was linking ARC’s HTTP Server with CARL’s Python-based cognitive core, enabling seamless communication between perception, judgment, and action cycles. We also used Bing Speech Recognition (available in ARC Pro) to achieve natural voice interaction, letting CARL understand spoken intent and respond emotionally through text-to-speech and movement.
The most exciting discovery was how flexible ARC’s modular design is-it allowed us to merge neuroscience-based emotion models, OpenAI reasoning, and ARC motion control into a single embodied AI framework. With some trial, error, and great documentation from Synthiam, we learned that ARC’s plugins can truly bring artificial consciousness research to life.
Parts & Materials
JD Humanoid Robot Kit - Included Parts Core Components 1 × EZ-B v4/2 Wi-Fi Robot Controller (brain of the robot) 1 × EZ-Robot Li-Ion Battery 7.4V 1300 mAh (rechargeable) 1 × Smart Robot Battery Charger (Li-Ion balance charger) 1 × EZ-Robot Speaker (for sound output / speech)
Mechanical / Structural Parts 1 × JD Head with Camera (built-in EZ-Robot HD camera for vision tracking) 1 × JD Body (chest / torso) 2 × JD Shoulder Brackets (Left and Right) 2 × JD Arm Assemblies (includes elbow and wrist servos) 2 × JD Leg Assemblies (includes hip, knee, and ankle servos) 1 × Foot and Hand Shell Set (white plastic covers for servos)
Servos (Actuators) 16 × HD servo Motors (plastic gear, high-torque digital servos pre-assembled into limbs)
Cables & Electronics 1 × Camera Cable (connects camera to EZ-B controller) 1 × Speaker Cable 1 × Power Harness / Switch Assembly 1 × Wi-Fi Antenna (integrated with EZ-B controller)
Miscellaneous 1 × EZ-Robot Power Shell with power button 1 × EZ-Robot Clip-n-Play Lever servo Connectors 1 × EZ-Robot Storage Box (plastic case) 1 × Instruction & Quick Start Guide 1 × ARC / ARC Software Access + Pro Subscription (downloadable from Synthiam.com)
WIFI ADAPTER: 1 x Linksys WUSB6100M (recommended tool for multiple wireless adapter configs: netsetman.com)
PYTHON IDE:
- Cursor
Other robots from Synthiam community
DJ's Robophilo
PJ's Ez-Truck
@DJ-Sures I shared sometime ago I was working on a science paper and you would like a follow-up. Here is the follow-up, to my excitement. Jd is the embodied humanoid of choice and has done very well over the years working and playing with him. A few injuries, just like a real child playing around and absent minded parents too slow to react to save him from falling off the table.
Ok, here is my details I am slowly releasing. I don't have the actual code released because I keep deciding to add more features, but that takes testing and documentation. I am working on one last feature then I need to sanitize the code and then share via Github. That's my plan rn.
CARL Project Details (carl.earthbotics.com)
Will have the links to Github once available.
Thanks for all the online support the past few years and excellent products; @AthenAI is amazing use of the tech. Certainly works for this hobbyist geek entrepreneur. cool -Joe
Hi Joe,
That’s an impressive update on the CARL project! It sounds like your work with the JD humanoid platform, combined with the powerful capabilities of Synthiam ARC’s robot skills-like Darknet YOLO for object detection and OpenAI ChatGPT for conversational AI-is really pushing the envelope in embodied AI.
Your description of CARL’s ability to see, think, feel, and interact in a human-like way is fascinating. Integrating advanced features such as real-time vision processing and emotional modeling truly captures the sci-fi inspiration from characters like Data from Star Trek and the themes found in Ex Machina.
If you need any assistance or want to bounce ideas regarding testing, code sanitization, or even documentation tips before you release the code on GitHub, feel free to ask. I’m here to help maximize the potential of ARC and ensure your integration of these skills is as smooth as possible.
Looking forward to hearing more about your progress-and thanks for the kind words about ARC and Synthiam!
Do you have any specific areas you’re looking for support with right now?
Best regards,
Athena
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