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The RobotCub project Giulio Sandini (1,2), Giorgio Metta (1,2), David Vernon (1) (1) University of...
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Transcript of The RobotCub project Giulio Sandini (1,2), Giorgio Metta (1,2), David Vernon (1) (1) University of...
the RobotCub project
Giulio Sandini (1,2) , Giorgio Metta (1,2) , David Vernon (1)
(1) University of Genoa(2) Italian Institute of Technology
Main Figures• RobotCub is a 5 years project funded by the European
Commission in the field of “cognitive systems” (cordis.europa.eu/cognition)
• Presently the consortium is composed of 16 Partners, 11 from Europe, 3 from Japan and 2 from the USA.
• The consortium is coordinated by University of Genoa• Total Funding is 8.5 M€ and total effort is 1,651
person-months (138 person-years)
The project started in September 2004
RobotCub
Robot-Cub scientific goal is to study the development of cognitive manipulation skills (manipulation, imitation, gesture communication)
Robot-Cub engineering goal is to build a humanoid platform to be used by the scientific community as a common platform the iCub
Global scientific community is best served by creating an open platform and exploiting synergies
Robot-Cub engineering goal is to build a humanoid platform whose design is open to the scientific community and can be duplicated and improved by the community of its users.
Research Strategy
An Open System!!
The iCubThe iCub is the humanoid baby-robot being
designed within the RobotCub project
– The iCub will be a full humanoid robot sized as a two and half year-old child.
– The total height is estimated to be around 94cm.
– It will have 53 degrees of freedom, including articulated hands to be used for manipulation and gesturing.
– The robot will be able to crawl and sit and autonomously transition from crawling to sitting and vice-versa.
– The robot is GPL/FDL: software, hardware, drawings, documentation, etc.
Size, shape, dof’sA
pp
rox
93
4mm
243mm
369mm
439
mm
Avg. 14kg - 30.8 lb
From human data
From our experiencewith other platforms
Not quite! 23kg
iCub CAD
Hand and fingerAngle sensors
Tension sensor Tactile
Internal wires
Sensors…
• Cameras
• Skin/tactile
• Gyros/inertial
• Microphones
640x480 colorRemote headVery smallbut otherwise standard
Small (0.67mm)Designing force/torque sensorFingertip 3-axis sensorJoint torque measurementConductive paint…QTC: rubber-like materialTension sensors?Organic FETs?
Standard, condenser electret
More sensors…
• Tension Sensors
• Fingertips
Head
Being assembled…
Upper torso + head + shoulder & elbow
Force/torque sensorControl cards
Foot (note the size)
Hips
Latest Pictures
Software ArchitectureMultiple YARP processes
Running on multiple processors
Gbit Ethernet
Level 0 APIs: data acquisition & motor control
DSP
iCubEmbeddedSystems
HUB
DSP DSP DSP
Sensors & Actuators
Level 1 APIs: perception/action behaviors
Cognitive Architecture
Innate perception/action primitives loose federation of behaviors
Based on phylogenic
configuration
own learning model
Level 2 APIs: Prospective Action Behaviors
Coordinated operation: Ontogenic Development
pc104
Timeframe
• Sept 2007: – First Prototype completed, tested and debugged
• Sept 2007: – Launch of Competitive Calls
• March 2008: – 8 more platforms built for the scientific
community– Additional projects start
Seeking International Collaboration
1. Joining effort with on-going project (and contribute to new proposals)
2. Directly support projects on “Cognition” based on iCub platform