The iCub humanoid robot (original) (raw)
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iCub: the open humanoid robot designed for learning and developing complex cognitive tasks
We describe the iCub, a humanoid robot for research in embodied cognition. At 104 cm tall, the iCub has the size of a three and half year old child. It will be able to crawl on all fours and sit up to manipulate objects. Its hands have been designed to support sophisticate manipulation skills. The iCub is distributed as Open Source following the GPL/FDL licenses. The entire design is available for download from the project homepage and repository (http://www. robotcub. org). In the following, we will concentrate on the ...
THE DESIGN OF THE iCub HUMANOID ROBOT
International Journal of Humanoid Robotics, 2012
This article describes the hardware design of the iCub humanoid robot. The iCub is an open-source humanoid robotic platform designed explicitly to support research in embodied cognition. This paper covers the mechanical and electronic design of the first release of the robot. A series upgrades developed for the second version of the robot (iCub2), which are aimed at the improvement of the mechanical and sensing performance, are also described.
Advanced …, 2007
The development of robotic cognition and the advancement of understanding of human cognition form two of the current greatest challenges in robotics and neuroscience, respectively. The RobotCub project aims to develop an embodied robotic child (iCub) with the physical (height 90 cm and mass less than 23 kg) and ultimately cognitive abilities of a 2.5-year-old human child. The iCub will be a freely available open system which can be used by scientists in all cognate disciplines from developmental psychology to epigenetic robotics to enhance understanding of cognitive systems through the study of cognitive development. The iCub will be open both in software, but more importantly in all aspects of the hardware and mechanical design. In this paper the design of the mechanisms and structures forming the basic 'body' of the iCub are described. The papers considers kinematic structures dynamic design criteria, actuator specification and selection, and detailed mechanical and electronic design. The paper concludes with tests of the performance of sample joints, and comparison of these results with the design requirements and simulation projects.
The icub cognitive architecture: Interactive development in a humanoid robot
Development and Learning, …, 2007
This paper describes the design of a cognitive architecture for the iCub : an open-systems 53 degree-offreedom cognitive humanoid robot. At 94 cm tall, the iCub is the same size as a three year-old child and is designed to be able to crawl on all fours and sit up. Its hands will allow dexterous manipulation, its head and eyes are fully articulated, and it has visual, vestibular, auditory, and haptic sensory capabilities. We begin by reviewing briefly the enactive approach to cognition, highlighting the requirements for phylogenetic configuration, the necessity for ontogenetic development, and the importance of humanoid embodiment. After a short look at the the iCub's mechanical and electronic specifications, we detail the iCub cognitive architecture, addressing the iCub phylogeny, i.e. the robot's intended innate abilities, the modulation of these skills by circuits inspired by the functionality of the hippocampus, basal ganglia, and amygdala. The architecture also include a prospective ability whereby sensorimotor behaviours can be simulated and then used to influence the action selection in the basal ganglia. We conclude by outlining our scenario for ontogenesis based on human neo-natal development.
The< i> iCub humanoid robot: An open-systems platform for research in cognitive development
Neural Networks, 2010
We describe a humanoid robot platform—the iCub—which was designed to support collaborative research in cognitive development through autonomous exploration and social interaction. The motivation for this effort is the conviction that significantly greater impact can be leveraged by adopting an open systems policy for software and hardware development. This creates the need for a robust humanoid robot that offers rich perceptuo-motor capabilities with many degrees of freedom, a cognitive capacity for learning and ...
The iCub humanoid robot: An open-systems platform for research in cognitive development
Neural Networks, 2010
We describe a humanoid robot platform -the iCub -which was designed to support collaborative research in cognitive development through autonomous exploration and social interaction. The motivation for this effort is the conviction that significantly greater impact can be leveraged by adopting an open systems policy for software and hardware development. This creates the need for a robust humanoid robot that offers rich perceptuo-motor capabilities with many degrees of freedom, a cognitive capacity for learning and development, a software architecture that encourages reuse & easy integration, and a support infrastructure that fosters collaboration and sharing of resources. The iCub satisfies all of these needs in the guise of an open-system platform which is freely available and which has attracted a growing community of users and developers. To date, twenty iCubs each comprising approximately 5000 mechanical and electrical parts have been delivered to several research labs in Europe and to one in the USA.
The RobotCub project -- an open framework for research in embodied cognition
IEEE-RAS International Conference on Humanoid Robots, 2006
This paper presents a research initiative on embodied cognition called RobotCub. RobotCub is an EUfunded project that aims at developing an open humanoid robotic platform and, simultaneously, following an original research path in synthetic cognition. We report on the motivations behind the realization of our humanoid robotic platform and the current status of the design just before the construction of the first full prototype.
The icub cognitive humanoid robot: An open-system research platform for enactive cognition
50 years of artificial intelligence, 2007
This paper describes a multi-disciplinary initiative to promote collaborative research in enactive artificial cognitive systems by developing the iCub: a open-systems 53 degree-of-freedom cognitive humanoid robot. At 94 cm tall, the iCub is the same size as a three year-old child. It will be able to crawl on all fours and sit up, its hands will allow dexterous manipulation, and its head and eyes are fully articulated. It has visual, vestibular, auditory, and haptic sensory capabilities. As an open system, the design and documentation of all ...
RobotCub: an open framework for research in embodied cognition
IEEE-RAS International Conference on Humanoid Robots, 2004
We describe a research initiative in embodied cognition that will create and exploit a 54 degree-of-freedom humanoid robot. This humanoid - RobotCub is currently being designed and the final system will be made freely available to the scientific community through an open systems GNU-like general public license. In addition, we describe a research agenda in cognitive systems that is based on the co-developmental learning through embodied physical interaction: exploration, manipulation, imitation, and communication. This agenda borrows heavily from experience in developmental psychology and cognitive neuroscience. All cognitive software associated with RobotCub will also be available under the open systems license.
2005
This paper presents a research initiative on embodied cognition called RobotCub. RobotCub is an EUfunded project that aims at developing an open humanoid robotic platform and, simultaneously, following an original research path in synthetic cognition. We report on the motivations behind the realization of our humanoid robotic platform and the current status of the design just before the construction of the first full prototype.