Proceedings ArticleDOI
Design of the robot-cub (iCub) head
Ricardo Beira,Manuel Lopes,M. Praca,José Santos-Victor,Alexandre Bernardino,Giorgio Metta,Francesco Becchi,Roque Saltaren +7 more
- pp 94-100
TLDR
This paper describes the design of a robot head, developed in the framework of the RobotCub project, which is the most complete humanoid robot currently being designed, in terms of kinematic complexity.Abstract:
This paper describes the design of a robot head, developed 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 would be approximately 90 cm 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 designread more
Citations
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Journal ArticleDOI
iCub: the design and realization of an open humanoid platform for cognitive and neuroscience research
Nikolaos G. Tsagarakis,Giorgio Metta,Giulio Sandini,David Vernon,Ricardo Beira,Francesco Becchi,Ludovic Righetti,José Santos-Victor,Auke Jan Ijspeert,Maria Chiara Carrozza,Darwin G. Caldwell +10 more
TL;DR: The design of the mechanisms and structures forming the basic 'body' of the iCub are described and kinematic structures dynamic design criteria, actuator specification and selection, and detailed mechanical and electronic design are considered.
Proceedings ArticleDOI
Multimodal saliency-based bottom-up attention a framework for the humanoid robot iCub
Jonas Ruesch,Manuel Lopes,Alexandre Bernardino,Jonas Hörnstein,José Santos-Victor,Rolf Pfeifer +5 more
TL;DR: A modular and distributed software architecture which is capable of fusing visual and acoustic saliency maps into one egocentric frame of reference endows the iCub with an emergent exploratory behavior reacting to combined visual and auditory saliency.
Book ChapterDOI
The iCub cognitive humanoid robot: an open-system research platform for enactive cognition
TL;DR: The enactive approach to cognition is outlined, drawing out the implications for phylogenetic configuration, the necessity for ontogenetic development, and the importance of humanoid embodiment, as well as the iCub's mechanical and electronic specifications, its software architecture, its cognitive architecture.
Proceedings ArticleDOI
Sound Localization for Humanoid Robots - Building Audio-Motor Maps based on the HRTF
TL;DR: A novel method to extract the notches that makes it possible to accurately estimate the location of a sound source in both the horizontal and vertical plane using only two microphones and human-like ears is presented.
Proceedings ArticleDOI
The bielefeld anthropomorphic robot head “Flobi”
Ingo Lütkebohle,Frank Hegel,Simon Schulz,Matthias Hackel,Britta Wrede,Sven Wachsmuth,Gerhard Sagerer +6 more
TL;DR: The design of a robot's head faces contradicting requirements when integrating powerful sensing with social expression and reactions of the general public show that current head designs often cause negative user reactions and distract from the functional capabilities.
References
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Book
Kinematics of human motion
TL;DR: This work describes how to study human body position and displacement without regard to time, velocity or acceleration by "adding" these variables in simple and complex biokinematic chains and by adding the variable of three-dimensional movement to the study of multilink chains.
Book
Measure of Man and Woman: Human Factors in Design
TL;DR: The Measure of Man and Woman as discussed by the authors is an updated and expanded version of the landmark human factors book first published in 1959 and brings together a wealth of crucial information to help designers create products and environments that better accommodate human needs.
Proceedings ArticleDOI
RobotCub: an open framework for research in embodied cognition
TL;DR: RobotCub as mentioned in this paper is a 54 degree-of-freedom humanoid robot that 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.
Journal ArticleDOI
Topology optimisation and singularity analysis of a 3-SPS parallel manipulator with a passive constraining spherical joint
Gursel Alici,Bijan Shirinzadeh +1 more
TL;DR: In this paper, the singularity loci of a 3-SPS parallel manipulator with three identical limbs made of spherical + prismatic + spherical joints are derived, and a passive spherical joint connecting a moving platform to a fixed base.