NG Tsagarakis
Lower body design of the ‘iCub’ a human-baby like crawling robot
Tsagarakis, NG; Sinclair, MD; Becchi, F; Metta, G; Sandini, G; Caldwell, DG
Authors
MD Sinclair
F Becchi
G Metta
G Sandini
DG Caldwell
Abstract
The development of robotic cognition and a greater understanding of human cognition form two of the current greatest challenges of science. Within the RobotCub project the goal is the development of an embodied robotic child (iCub) with the physical and ultimately cognitive abilities of a 2frac12 year old human baby. The ultimate goal of this project is to provide the cognition research community with an open human like platform for understanding of cognitive systems through the study of cognitive development. In this paper the design of the mechanisms adopted for lower body and particularly for the leg and the waist are outlined. This is accompanied by discussion on the actuator group realisation in order to meet the torque requirements while achieving the dimensional and weight specifications. Estimated performance measures of the iCub are presented.
Citation
Tsagarakis, N., Sinclair, M., Becchi, F., Metta, G., Sandini, G., & Caldwell, D. Lower body design of the ‘iCub’ a human-baby like crawling robot. Presented at 2006 6th IEEE-RAS International Conference on Humanoid Robots, Genova, Italy
| Presentation Conference Type | Other |
|---|---|
| Conference Name | 2006 6th IEEE-RAS International Conference on Humanoid Robots |
| Conference Location | Genova, Italy |
| End Date | Dec 6, 2006 |
| Online Publication Date | Feb 26, 2007 |
| Publication Date | Dec 4, 2006 |
| Deposit Date | Jan 7, 2009 |
| Book Title | 2006 6th IEEE-RAS International Conference on Humanoid Robots |
| ISBN | 1424401992-(print);-142440200X-(CD-ROM) |
| DOI | https://doi.org/10.1109/ICHR.2006.321311 |
| Keywords | Cognitive systems, humanoid robots, legged locomotion, realisation theory, robot kinematics, RobotCub project, actuator group realisation, cognitive development, cognitive systems, embodied robotic child, human-baby like crawling robot, iCub, robot lower body design, robotic cognition, crawling, humanoid, legs, lower body |
| Publisher URL | https://doi.org/10.1109/ICHR.2006.321311 |
| Related Public URLs | http://humanoids06.epfl.ch/ http://www.ieee.org/portal/site |
| Additional Information | Additional Information : 2006 6th IEEE-RAS International Conference on Humanoid Robots 4-6 December 2006, Genoa, Italy ISBN: 142440200X Event Type : Conference |