The iCub Humanoid Robot
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- Written by Alexandros Giagkos
- Category: iCub-Bio
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The iCub is a humanoid robot, developed under the RobotCub project. It is a 53 degree-of-freedom robot, roughly 1m tall, and is equipped with visual, vestibular, auditory, haptic, proprioceptive, and torque sensors.
Each arm has 16 degrees of freedom, with 9 of these located in the hands. The palms and fingertips of each arm contain 108 capacitive tactile sensors on a triangular array. 6-axial force/torque sensors are located in the upper arms.
The legs and torso contain 15 degrees of freedom (3 at the waist), and have 6-axial force/torque sensors located in the thigh.
The head contains 6 degrees of freedom split between the neck and eyes. It contains 2 Dragonfly2 cameras (640*480, 15fps), 2 microphones and pinnae, gyros, digital compass and accelerometers. The head is also capable of displaying facial expressions with mechanised eyelids and LED displays for mouth and eyebrow positions.
Low level control is provided on board by a PC104 card with dual Intel Core 2 Duo 2.16MHz processors. Data transfer to/from the robot is via a Gbit/s Ethernet port.
Aberystwyth iCub participated to EPSRC Photography Competition (People Category):
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2014 - Won the 1st prize! |
2015 - Won the 1st prize! |
2016 - Submitted and waiting for the result.. |
Selected publications:
Kumar, S., Shaw, P., Lewkowicz, D., Giagkos, A., Shen, Q., Lee, M. 2016. Developing Object Understanding through Schema Generalisation. ICDL-EpiRob 2016, 6th Joint IEEE International Conference on Developmental Learning and Epigenetic Robotics, Paris, France, 19/09/2016 - 22/09/2016.
Kumar, S., Shaw, P., Lewkowicz, D., Giagkos, A., Lee, M., Shen, Q. 2016. Generalising Predictable Object Movements Through Experience Using Schemas. In E. Tuci., A. Giagkos., M. Wilson., J. Hallam. (eds) From Animals to Animats 14: 14th International Conference on Simulation of Adaptive Behaviour, SAB 2016, Aberystwyth, UK, August 23-26, 2016, Proceedings. Lecture Notes in Computer Science, vol. 9825 14th International Conference on Simulation of Adaptive Behaviour, Aberystwyth, United Kingdom of Great Britain and Northern Ireland, 23/08/2016 - 26/08/2016. Springer Nature pp. 329-339. 10.1007/978-3-319-43488-9_29
Giagkos, A., Lewkowicz, D., Shaw, P., Kumar, S., Lee, M., Shen, Q. 2016. (In press) Perception of Localised Features during Robotic Sensorimotor Development. IEEE Transactions on Cognitive and Developmental Systems
Lewkowicz, D., Giagkos, A., Shaw, P., Kumar, S., Lee, M., Shen, Q. 2016. Towards Learning Strategies and Exploration Patterns for Feature Perception. ICDL-EpiRob 2016, 6th Joint IEEE International Conference on Developmental Learning and Epigenetic Robotics, Paris, France, 19/09/2016 - 22/09/2016.
Shaw, P., Lewkowicz, D., Giagkos, A., Law, J., Kumar, S., De Masson d' Autume, C., Lee, M., Shen, Q. 2015. Babybot Challenge: Motor Skills. 5th International Conference on Development and Learning and on Epigenetic Robotics. IEEE ICDL - EPIROB 2015, 5th Joint IEEE International Conference on Development and Learning and on Epigenetic Robotics, United States of America, 13/08/2015 - 16/08/2015. IEEE Press, Providence, RI USA pp. 47-54.