Performance Assessment of a 3 DOF Differential Based Waist joint for the "iCub" Baby Humanoid Robot

Author

Hinojosa, W.M. ; Tsagarakis, N.G. ; Metta, G. ; Becchi, F. ; Sandini, G. ; Caldwell, D.G.

Author_Institution

Sch. of Comput. Sci. & Eng., Salford Univ., Manchester

fYear

2006

Firstpage

195

Lastpage

201

Abstract

This work discusses the design and control approach of a 3 DOF waist joint for the "iCub" humanoid robot. "iCub" is a child like crawling robot that resembles a 2 and a half year old child. 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. The designs of the mechanisms adopted for the waist joint are discussed. This is accompanied by discussion of the control scheme design and presentation of experimental results showing the performance of the mechanism

Keywords

cognitive systems; humanoid robots; legged locomotion; motion control; position control; 3 DOF differential based waist joint; child like crawling robot; cognitive system; iCub baby humanoid robot; open human like platform; Automatic control; Cognition; Cognitive robotics; Control systems; Human robot interaction; Humanoid robots; Pediatrics; Prototypes; Robotics and automation; Size control;

fLanguage

English

Publisher

ieee

Conference_Titel

Robot and Human Interactive Communication, 2006. ROMAN 2006. The 15th IEEE International Symposium on

Conference_Location

Hatfield

Print_ISBN

1-4244-0564-5

Electronic_ISBN

1-4244-0565-3

Type

conf

DOI

10.1109/ROMAN.2006.314417

Filename

4107808