ICub: The design and realization of an open humanoid platform for cognitive and neuroscience research

Advanced Robotics

Volumn 21, Issue 10, 2007, Pages 1151-1175

  Tsagarakis, N G ^a   Metta, G ^b   Sandini, G ^a   Vernon, D ^b   Beira, R ^c   Becchi, F ^e   Righetti, L ^f   Santos Victor, J ^c   Ijspeert, A J ^f   Carrozza, M C ^d   Caldwell, D G ^a  

^a ISTITUTO ITALIANO DI TECNOLOGIA   (Italy)

^b UNIVERSITY OF GENOA   (Italy)

^c INSTITUTO SUPERIOR TÉCNICO   (Portugal)

^d SCUOLA SUPERIORE SANT ANNA   (Italy)

^e TELEROBOT   (Italy)

^f EPFL   (Switzerland)

Author keywords

Cognition; Force sensing; Humanoid; Mechanical design

Indexed keywords

COGNITIVE SYSTEMS; COMPUTER SIMULATION; COMPUTER SOFTWARE; ENGINEERING RESEARCH; NEUROLOGY;

FORCE SENSING; HUMANOID; MECHANICAL DESIGN;

ANTHROPOMORPHIC ROBOTS;

EID: 34547495534     PISSN: 01691864     EISSN: 15685535     Source Type: Journal    
DOI: 10.1163/156855307781389419     Document Type: Article

References (23)

1. K. Nishiwaki, T. Sugihara, S. Kagami, F. Kanehiro, M. Inaba and H. Inoue, Design and Development of research platform for perception-action integration in humanoid robot: H6, in: Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Takamatsu, pp. 1559-1564 (2000).
2. K. Hirai, Current and future perspective of Honda humanoid robot, in: Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Grenoble, pp. 500-508 (1997).
3. K. Hirai, M. Hirose, Y. Haikawa and T. Takenaka, The development of Honda humanoid robot, in: Proc. IEEE Int. Conf. on Robotics and Automation, Leaven, pp. 1321-1326 (1998).
4. M. Hirose, Y. Haikawa, T. Takenaka and K. Hirai, Development of humanoid robot ASIMO, in: Proc. Int. Conf. on Intelligent Robots and Systems, Maui, HI, workshop 2 (2001).
5. M. Gienger, K. Löffler and F. Pfeiffer, Towards the design of biped jogging robot, in: Proc. IEEE Int. Conf on Robotics and Automation, Seoul, pp. 4140-4145 (2001).
6. S. Lohmeier, T. Buschmann, H. Ulbrich and F. Pfeiffer, Modular joint design for a performance enhanced humanoid robot, in: Proc. IEEE Int. Conf. on Robotics and Automation, Orlando, FL, pp. 88-93 (2006).
7. H. Inoue, S. Tachi, Y. Nakamura, K. Hirai, N. Ohyu S. Hirai, K. Tanie, K. Yokoi and H. Hirukawa, Overview of humanoid robotics project of METI, in: Proc. 32nd Int. Symp. on Robotics, Seoul, pp. 1478-1482 (2001).
8. B. Verrelst, R. Van Ham, B. Vanderborght, F. Daerden and D. Lefeber, The pneumatic biped 'LUCY' actuated with pleated pneumatic artificial muscles, Autonomous Robots18, 201-213 (2005).
9. K. Kaneko, F. Kanehiro, S. Kajita, K. Yokoyama, K. Akachi, T. Kawasaki, S. Ota and T. Isozumi, Design of prototype humanoid robotics platform for HRP, in: Proc. IEEE/RSJ Int. Conf on Intelligent Robots and Systems, Lausanne, pp. 2431-2436 (2002).
10. K. Kaneko, F. Kanehiro, S. Kajita, H. Hirukawa, T. Kavasaki, M. Hirata, K. Akachi and T. Isozumi, Humanoid robot HRP-2, in: Proc. IEEE Int. Conf. on Robotics and Automation, New Orleans, LA, pp. 1083-1090 (2004).
11. R. Brooks, C. Breazeal, M. Marjanovic, B. Scassellati and M. Williamson, The Cog project: building a humanoid robot, in: Computation for Metaphors, Analogy, and Agents(C. Nehaniv, Ed.), Lecture Notes in Artificial Intelligence 1562, pp. 52-87. Springer, New York (1999).
12. R. Brooks and L. An. Stein, Building brains for bodies, Autonomous Robot1, 7-25 (1994).
13. D. G. Caldwell, G. A. Medrano-Cerda and C. J. Bowler, Investigation of bipedal robot locomotion using pneumatic muscle actuators, in: IEEE Int. Conference on Robotics and Automation, Leuven, pp. 799-804 (1998).
14. I. Mizuuchi, T. Yoshikai, Y. Nakanishi and M. Inaba, A reinforceable-muscle flexible-spine humanoid 'Kenji', in: Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Edmonton, pp. 692-697 (2005).
15. I. Mizuuchi, R. Tajima, T. Yoshikai, D. Sato, K. Nagashima, M. Inaba, Y. Kuniyoshi and H. Inoue, The design and control of the flexible spine of a fully tendon-driven humanoid Kenta, in: Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Lausanne, pp. 2527-2532 (2002).
16. S. Shirata, A. Konno and M. Uchiyama, Design and development of a light-weight biped humanoid robot Saika-4, in: Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Sendai, pp. 148-153 (2004).
17. F. Yamasaki, T. Matsui, T. Miyashita and H. Kitano, PINO the humanoid that walks, in: Proc. Int. Conf. on Humanoid Robots, Boston, MA, 80.pdf (2000).
18. G. Metta, G. Sandini, D. Vernon, D. Caldwell, N. Tsagarakis, R. Beira, J. Santos-Victor, A. Ijspeert, L. Righetti, G. Cappiello, G. Stellin and F. Beech, The RobotCub project an open framework for research in embodied cognition, Invited paper to the Int. Conf. of Humanoid Robots, Workshop on Dynamic Intelligence, Tsukuba (2005).
19. G. Sandini, G. Metta and D. Vemon, RobotCub: an open framework for research in embodied, cognition, in: Proc. IEEE-RAS/RSJ Int. Conf. of Humanoid Robotics, Los Angeles, CA, pp. 13-32 (2004).
20. N. G. Tsagarakis, M. Sinclair, F. Becchi, G. Metta, G. Sandini and D. G. Caldwell, Lower body design of the 'iCub' a human-baby like crawling robot, in: Proc. Int. Conf on Humanoids, Genoa, 106.pdf (2006).
21. O. Michel, Webots: professional mobile robot simulation, Int. J. Adv. Robotic Syst.1, pp. 39-42 (2004).
22. R. Beira, M. Lopes, M. Praca, J. Santos-Victor, A. Bernardino, G. Metta, F. Becchi and R. Saltaren, Design of the Robot-Cub (iCub) head, in: Proc. IEEE Conf. on Robotics and Automation, Orlando, FL, pp. 94-100 (2006).
23. G. Metta, P. Fitzpatrick and L. Natale, YARP: yet another robot platform, Int. J. on Adv. Robotics Syst. (Special Issue on Software Development and Integration in Robotics)3, 43-48 (2006).