Design of the robot-cub (iCub) head

Beira, R.; Lopes, Manuel; Praca, M.; Santos-Victor, José; Bernardino, Alexandre; Metta, Giorgio; Becchi, Francesco; Saltarén, Roque

doi:10.1109/robot.2006.1641167

Cited by 159 publications

(124 citation statements)

References 6 publications

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“…Therefore a 4 DOFs serial concept is preferred. This complies with an earlier study that concluded that actuating every single DOF in a separate stage with rotational motors was, among the tested neck configurations, the best way to design a humanoid neck [10].…”

Section: Kinematic Conceptsupporting

confidence: 91%

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Mechatronic design of a fast and long range 4 degrees of freedom humanoid neck

Brouwer

Bennik

Leideman³

et al. 2009

2009 IEEE International Conference on Robotics and Automation

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Abstract-This paper describes the mechatronic design of a humanoid neck. To research human machine interaction, the head and neck combination should be able to approach the human behavior as much as possible. We present a novel humanoid neck concept that is both fast, and has a long range of motion in 4 degrees of freedom (DOFs). This enables the head to track fast objects, and the neck design is suitable for mimicking expressions.The humanoid neck features a differential drive design for the lower 2 DOFs resulting in a low moving mass and the ability to use strong actuators. The performance of the neck has been optimized by minimizing backlash in the mechanisms, and by using gravity compensation. Two cameras in the head are used for scanning and interaction with the environment.

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Section: Kinematic Conceptsupporting

confidence: 91%

“…4RII by the the University of Waseda [5], QRIO by Sony [6], the Cog by MIT [7], a neck by the University of Karlsruhe [8], iSHA by Waseda University [9] and the iCub by University of Polytechnics at Madrid [10].…”

Section: Introductionmentioning

confidence: 99%

Mechatronic design of a fast and long range 4 degrees of freedom humanoid neck

Brouwer

Bennik

Leideman³

et al. 2009

2009 IEEE International Conference on Robotics and Automation

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show abstract

“…3), with different optical and kinematics characteristics (see Table 1): a iCub stereo head (Beira et al 2006), the SEARISE stereo head (Vanegas et al 2012…”

Section: Implementation On Robot Platformsmentioning

confidence: 99%

A Portable Bio-Inspired Architecture for Efficient Robotic Vergence Control

et al. 2016

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In stereoscopic vision, the ability of perceiving the three-dimensional structure of the surrounding environment is subordinated to a precise and effective motor control for the binocular coordination of the eyes/cameras. If, on the one side, the binocular coordination of camera movements is a complicating factor, on the other side, a proper vergence control, acting on the binocular disparity, facilitates the binocular fusion and the subsequent stereoscopic perception process. In real-world situations, an effective vergence control requires further features other than real time capabilities: real robot systems are indeed characterized by mechanical and geometrical imprecision that affect the binocular vision, and the illumination conditions are changeable and unpredictable. Moreover, in order to allow an effective visual exploration of the peripersonal space, it is necessary to cope with different gaze directions and provide a large working space. The proposed control strategy resorts to a neuromimetic approach that provides a distributed representation of disparity information. trol, which directly interacts with saccadic control. Before saccade, the open-loop component is computed in correspondence of the saccade target region, to obtain a vergence correction to be applied simultaneously with the saccade. At fixation, the closed-loop component drives the binocular disparity to zero in a foveal region. The obtained vergence servos are able to actively drive both the horizontal and the vertical alignment of the optical axes on the object of interest, thus ensuring a correct vergence posture. Experimental tests were purposely designed to measure the performance of the control in the peripersonal space, and were performed on three different robot platforms. The results demonstrated that the proposed approach yields real-time and effective vergence camera movements on a visual stimulus in a wide working range, regardless of the illumination in the environment and the geometry of the system.

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“…[3], [8], [25]) that use eyes, eyelids, eyebrows and a mouth for facial expressions. The proboscis or trunk of our robot appears to be the most intriguing element according to a small survey amongst children aged 10-13.…”

Section: Attractive Trunkmentioning

confidence: 99%

The Huggable Robot Probo, a Multi-disciplinary Research Platform

Goris

Saldien

Vanderniepen

et al. 2009

Communications in Computer and Information Science

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Abstract. The concept of the huggable robot Probo is a result of the desire to improve the living conditions of children in hospital environment. These children need distraction and lots of information. In this paper we present the concept of this new robot. The robot will be employed in hospitals, as a tele-interface for entertainment, communication and medical assistance. To communicate according to social rules, the robot needs the ability to show facial expressions. Using a well defined set of Action Units (AU) it's possible to express some basic emotions. A prototype of the robot's head, capable of showing these basic emotions is presented. In order to express emotions, an emotional interface is developed. The emotions, represented as a vector in an 2D emotion space, are mapped to the DOF used in the robot. A graphical user interface to control the virtual and real prototype is also presented.

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Design of the robot-cub (iCub) head

Cited by 159 publications

References 6 publications

Mechatronic design of a fast and long range 4 degrees of freedom humanoid neck

Mechatronic design of a fast and long range 4 degrees of freedom humanoid neck

A Portable Bio-Inspired Architecture for Efficient Robotic Vergence Control

The Huggable Robot Probo, a Multi-disciplinary Research Platform

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