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Unformatted text preview: Design of the Robot-Cub (iCub) Head Ricardo Beira * , Manuel Lopes * , Miguel Prac ¸a * , Jos´e Santos-Victor * , Alexandre Bernardino * Giorgio Metta † , Francesco Becchi ‡ , Roque Saltar´en § * Instituto Superior T´ecnico, Institute for Systems and Robotics, Lisbon, Portugal Contact Email (J. Santos-Victor): [email protected] † Lira Lab, DIST, University of Genova, Italy ‡ Telerobot SRL, Italy § DISAM - Universidad Polit´ecnica de Madrid, Spain Abstract — This paper describes the design of a robot head, de- veloped in the framework of the RobotCub project. This project goals consists on the design and construction of a humanoid robotic platform, the iCub, for studying human cognition. The final platform will be approximately 90cm tall, with 23 kg and with a total number of 53 degrees of freedom. For its size, the iCub is the most complete humanoid robot currently being designed, in terms of kinematic complexity. The eyes can also move, as opposed to similarly sized humanoid platforms. Specifications are made based on biological anatomical and behavioral data, as well as tasks constraints. Different concepts for the neck design (flexible, parallel and serial solutions) are analyzed and compared with respect to the specifications. The eye structure and the proprioceptive sensors are presented, together with some discussion of preliminary work on the face design. I. I NTRODUCTION This paper describes the design and construction of the iCub robotic head/neck system. It is included in the European Project RobotCub, a large and ambitious project of embodied cognitive systems . The RobotCub project has the twin goals of (1) creating an open and freely-available humanoid platform, iCub, for research in embodied cognition, and (2) advancing our un- derstanding of cognitive systems by exploiting this platform in the study of cognitive development. To achieve this goal we plan to construct an embodied system able to learn: i) how to interact with the environment by complex manipulation and through gesture production & interpretation; and ii) how to develop its perceptual, motor and communication capabilities for the purpose of performing goal-directed manipulation tasks. iCub will have a physical size and form, similar to that of a two year-old child, as shown in Figure 1 and will achieve its cognitive capabilities through artificial ontogenic codevelopment with its environment. In recent years, the need for new generations of robots has drifted from industrial automation to human friendly robotic systems, able to routinely interact with humans in environments such as offices, homes and hospitals. The study of humanoid robots is particularly relevant for this type of interaction because of anthropomorphism, friendly design, applicability of locomotion, behavior within the human living Fig. 1. Approximate size targeted for the iCub  environments, small size and so on. In fact, one reason for the (relatively) small size of humanoid type robotic platforms is...
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This note was uploaded on 08/03/2010 for the course MECHANIC 65921 taught by Professor Jons during the Spring '10 term at Tampa.
- Spring '10