Observatorio de I+D+i UPM

Memorias de investigación
Conferencias:
Design of the Robot-Cub (iCub) head
Año:2007
Áreas de investigación
  • Automática
Datos
Descripción
This paper describes the design of a robot head, developed in the framework of the RobotCub project. This project goals consists on the design and construction of a humanoid robotic platform, the iCub, for studying human cognition. The final platform will be approximately 90cm tall, with 23 kg and with a total number of 53 degrees of freedom. For its size, the iCub is the most complete humanoid robot currently being designed, in terms of kinematic complexity. The eyes can also move, as opposed to similarly sized humanoid platforms. Specifications are made based on biological anatomical and behavioral data, as well as tasks constraints. Different concepts for the neck design (flexible, parallel and serial solutions) are analyzed and compared with respect to the specifications. The eye structure and the proprioceptive sensors are presented, together with some discussion of preliminary work on the face design.
Internacional
Si
ISSN o ISBN
Entidad relacionada
ICRA 2006, IEEE
Nacionalidad Entidad
E.E.U.U. DE AMERICA
Lugar del congreso
IEEE International Conference on Robotics and Automation Orlando, FL, MAY 15-19, 2006
Esta actividad pertenece a memorias de investigación
Participantes
  • Participante: J. Bernardino (Inst Super Tecn, Inst Syst & Robot, Lisbon, Portugal )
  • Participante: Manuel Lopes (Inst Super Tecn, Inst Syst & Robot, Lisbon, Portugal )
  • Autor: Roque Jacinto Saltaren Pazmiño (UPM)
  • Participante: Ricardo Beira (Inst Super Tecn, Inst Syst & Robot, Lisbon, Portugal )
  • Participante: José Santos-Victor (Inst Super Tecn, Inst Syst & Robot, Lisbon, Portugal )
Grupos de investigación, Departamentos, Centros e Institutos de I+D+i relacionados
  • Creador: Grupo de Investigación: Robots y máquinas inteligentes
  • Departamento: Automática, Ingeniería Electrónica e Informática Industrial
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