Lower Body Design of the `iCub' a Human-baby like Crawling Robot

Tsagarakis, Nikos G.; Sinclair, M.A.; Becchi, Francesco; Metta, Giorgio; Sandini, Giulio; Caldwell, Darwin G.

doi:10.1109/ichr.2006.321311

Cited by 12 publications

(6 citation statements)

References 16 publications

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“…in the iCub's waist (pitch, yaw) are also implemented using a cable differential mechanism. As a result, the increased flexibility of the upper body and the ensuing larger working space of arms are combined with the inherent stiffness of the differential mechanism also adopted for this joint [20]. Since the iCub is a human-like robot and will perform tasks similar to those performed by a human, the range of motion of a 'standard' human baby was used as a starting point for the selection of the movable range of each joint.…”

Section: Kinematicsmentioning

confidence: 99%

iCub: the design and realization of an open humanoid platform for cognitive and neuroscience research

et al. 2007

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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.

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Section: Kinematicsmentioning

confidence: 99%

iCub: the design and realization of an open humanoid platform for cognitive and neuroscience research

et al. 2007

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“…Similar applications have been developed in different countries, including SHERPA, 46 THAILAND, 47 and iCub. [19][20][21] Features of differential topological architecture. The typical topological architecture is just like that illustrated in Figure 7.…”

Section: Applied Topological Architecture Of Cabledriven Robotsmentioning

confidence: 99%

“…Nowadays, cable-driven mechanism is employed to develop more precise positioning systems because of their advantages such as higher precision, small backlash, and lightweight transmission. Some famous cases including the NIST RoboCrane, 18 Japanese FALCON, 5 Italian iCub, [19][20][21] and Chinese FAST 22,23 have demonstrated the feasibility. And, the literature on cable transmission theories covers a wide range, including transmission principles on power and motion, structure design and mechanical computation, kinematic analysis and design, topological optimization design, control analysis and design.…”

Section: Introductionmentioning

confidence: 99%

A review on topological architecture and design methods of cable-driven mechanism

Hong

Jabran

Ren

2018

Advances in Mechanical Engineering

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Research on the cable-driven mechanism has greatly developed with the booming of the robots in the past 30 years, and a range of corresponding theoretical studies have been published on them. The large-scale robot or manipulator with the complex cable-driven mechanism can be reconfigured. However, more theoretical studies are required on their topological architecture design and optimization to achieve this. Therefore, the applied cable-driven architectures and the corresponding theoretical studies are reviewed and summarized here. The parallel, serial, and differential architecture are illustrated, as well as their theories and methods, such as the workspace analysis based on the Jacobian matrix, particle swarm optimization and genetic algorithm, and kinematic design based on the graph theory are described. The features of the architecture and the theory studies are concluded. It is hoped that this study will help with design of future studies.

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“…Some progress toward this goal has been made by the many humanoid robots that have been developed around the world, such as Asimo [50] or iCub [55], which can deliver impressive performance on the tasks that they are designed for (e.g., [8]). So far, however, they have failed to generate a significant stream of new findings in the area of human motor control.…”

Section: Introductionmentioning

confidence: 99%

Toward Anthropomimetic Robotics: Development, Simulation, and Control of a Musculoskeletal Torso

et al. 2013

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A version of this paper with color figures is available online at http://dx.doi.org/10.1162/ artl_a_00088. Subscription required.Abstract Anthropomimetic robotics differs from conventional approaches by capitalizing on the replication of the inner structures of the human body, such as muscles, tendons, bones, and joints. Here we present our results of more than three years of research in constructing, simulating, and, most importantly, controlling anthropomimetic robots. We manufactured four physical torsos, each more complex than its predecessor, and developed the tools required to simulate their behavior. Furthermore, six different control approaches, inspired by classical control theory, machine learning, and neuroscience, were developed and evaluated via these simulations or in small-scale setups. While the obtained results are encouraging, we are aware that we have barely exploited the potential of the anthropomimetic design so far. But, with the tools developed, we are confident that this novel approach will contribute to our understanding of morphological computation and human motor control in the future.

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Lower Body Design of the `iCub' a Human-baby like Crawling Robot

Cited by 12 publications

References 16 publications

iCub: the design and realization of an open humanoid platform for cognitive and neuroscience research

iCub: the design and realization of an open humanoid platform for cognitive and neuroscience research

A review on topological architecture and design methods of cable-driven mechanism

Toward Anthropomimetic Robotics: Development, Simulation, and Control of a Musculoskeletal Torso

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