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Lower body realization of the baby humanoid - ‘{iCub}’

2007

Conference Paper

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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

Department(s): Movement Generation and Control
Bibtex Type: Conference Paper (inproceedings)

DOI: 10.1109/IROS.2007.4399096

Address: San Diego, USA
URL: https://infoscience.epfl.ch/record/142753/files/nTsagarakis07.pdf

BibTex

@inproceedings{tsagarakis_lower_2007,
  title = {Lower body realization of the baby humanoid - ‘{iCub}’},
  author = {Tsagarakis, N.G. and Becchi, F. and Righetti, L. and Ijspeert, A. and Caldwell, D.G.},
  booktitle = {2007 {IEEE}/{RSJ} {International} {Conference} on {Intelligent} {Robots} and {Systems}},
  pages = {3616--3622},
  publisher = {IEEE},
  address = {San Diego, USA},
  year = {2007},
  url = {https://infoscience.epfl.ch/record/142753/files/nTsagarakis07.pdf}
}