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Movement Generation and Control Conference Paper 2007

Lower body realization of the baby humanoid - ‘iCub’

Thumb ticker sm righetti
Movement Generation and Control
Ludovic Righetti
Visiting Researcher
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Autonomous Motion
Auke Ijspeert

Nowadays, the understanding of the human cognition and it application to robotic systems forms a great challenge of research. The iCub is a robotic platform that was developed within the RobotCub European project to provide the cognition research community with an open baby- humanoid platform for understanding and development of cognitive systems. In this paper we present the design requirements and mechanical realization of the lower body developed for the "iCub". In particular the leg and the waist mechanisms adopted for lower body to match the size and physical abilities of a 2 frac12 year old human baby are introduced.

Author(s): Tsagarakis, N.G. and Becchi, F. and Righetti, L. and Ijspeert, A. and Caldwell, D.G.
Book Title: 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems
Pages: 3616--3622
Year: 2007
Publisher: IEEE
Bibtex Type: Conference Paper (inproceedings)
Address: San Diego, USA
DOI: 10.1109/IROS.2007.4399096
URL: https://infoscience.epfl.ch/record/142753/files/nTsagarakis07.pdf
Electronic Archiving: grant_archive

BibTex 

@inproceedings{tsagarakis_lower_2007,
  title = {Lower body realization of the baby humanoid - ‘{iCub}’},
  booktitle = {2007 {IEEE}/{RSJ} {International} {Conference} on {Intelligent} {Robots} and {Systems}},
  abstract = {Nowadays, the understanding of the human cognition and it application to robotic systems forms a great challenge of research. The iCub is a robotic platform that was developed within the RobotCub European project to provide the cognition research community with an open baby- humanoid platform for understanding and development of cognitive systems. In this paper we present the design requirements and mechanical realization of the lower body developed for the "iCub". In particular the leg and the waist mechanisms adopted for lower body to match the size and physical abilities of a 2 frac12 year old human baby are introduced.},
  pages = {3616--3622},
  publisher = {IEEE},
  address = {San Diego, USA},
  year = {2007},
  slug = {tsagarakis_lower_2007},
  author = {Tsagarakis, N.G. and Becchi, F. and Righetti, L. and Ijspeert, A. and Caldwell, D.G.},
  url = {https://infoscience.epfl.ch/record/142753/files/nTsagarakis07.pdf}
}