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Lower body design of the ‘iCub’ a human-baby like crawling robot

Tsagarakis, NG, Sinclair, MD, Becchi, F, Metta, G, Sandini, G and Caldwell, DG 2006, 'Lower body design of the ‘iCub’ a human-baby like crawling robot' , Humanoid Robots, 2006 6th IEEE-RAS International Conference on , pp. 450-455.

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Abstract

The development of robotic cognition and a greater understanding of human cognition form two of the current greatest challenges of science. Within the RobotCub project the goal is the development of an embodied robotic child (iCub) with the physical and ultimately cognitive abilities of a 2frac12 year old human baby. The ultimate goal of this project is to provide the cognition research community with an open human like platform for understanding of cognitive systems through the study of cognitive development. In this paper the design of the mechanisms adopted for lower body and particularly for the leg and the waist are outlined. This is accompanied by discussion on the actuator group realisation in order to meet the torque requirements while achieving the dimensional and weight specifications. Estimated performance measures of the iCub are presented.

Item Type: Article
Additional Information: 2006 6th IEEE-RAS International Conference on Humanoid Robots 4-6 December 2006, Genoa, Italy ISBN: 142440200X
Uncontrolled Keywords: Cognitive systems, humanoid robots, legged locomotion, realisation theory, robot kinematics, RobotCub project, actuator group realisation, cognitive development, cognitive systems, embodied robotic child, human-baby like crawling robot, iCub, robot lower body design, robotic cognition, crawling, humanoid, legs, lower body
Themes: Subjects / Themes > Q Science > QA Mathematics > QA075 Electronic computers. Computer science
Subjects outside of the University Themes
Schools: Colleges and Schools > College of Science & Technology
Colleges and Schools > College of Science & Technology > School of Computing, Science and Engineering
Colleges and Schools > College of Science & Technology
Journal or Publication Title: Humanoid Robots, 2006 6th IEEE-RAS International Conference on
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Refereed: Yes
Related URLs:
Depositing User: H Kenna
Date Deposited: 07 Jan 2009 12:23
Last Modified: 20 Aug 2013 15:51
URI: http://usir.eprints.org/id/eprint/937

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