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

被引：11

作者：

Tsagarakis, N. G. ^{[1
]}

Sinclair, M. ^{[1
]}

Becchi, F. ^{[2
]}

Metta, G. ^{[3
]}

Sandini, G. ^{[3
]}

Caldwell, D. G. ^{[1
]}

机构：

[1] Univ Salford, Ctr Robot & Automat, Salford M5 4WT, Lancs, England

[2] TELEROBOT, Adv Robot, I-16128 Genoa, Italy

[3] Univ Genoa, DIST, LIRA Lab, I-16145 Genoa, Italy

来源：

2006 6TH IEEE-RAS INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS, VOLS 1 AND 2 | 2006年

关键词：

lower body; humanoid; crawling; legs;

D O I：

10.1109/ICHR.2006.321311

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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 2 1/2 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.

引用

页码：450 / +

页数：2

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