the robotcub project giulio sandini (1,2), giorgio metta (1,2), david vernon (1) (1) university of...
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the RobotCub project
Giulio Sandini (1,2) , Giorgio Metta (1,2) , David Vernon (1)
(1) University of Genoa(2) Italian Institute of Technology
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Main Figures• RobotCub is a 5 years project funded by the European
Commission in the field of “cognitive systems” (cordis.europa.eu/cognition)
• Presently the consortium is composed of 16 Partners, 11 from Europe, 3 from Japan and 2 from the USA.
• The consortium is coordinated by University of Genoa• Total Funding is 8.5 M€ and total effort is 1,651
person-months (138 person-years)
The project started in September 2004
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RobotCub
Robot-Cub scientific goal is to study the development of cognitive manipulation skills (manipulation, imitation, gesture communication)
Robot-Cub engineering goal is to build a humanoid platform to be used by the scientific community as a common platform the iCub
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Global scientific community is best served by creating an open platform and exploiting synergies
Robot-Cub engineering goal is to build a humanoid platform whose design is open to the scientific community and can be duplicated and improved by the community of its users.
Research Strategy
An Open System!!
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The iCubThe iCub is the humanoid baby-robot being
designed within the RobotCub project
– The iCub will be a full humanoid robot sized as a two and half year-old child.
– The total height is estimated to be around 94cm.
– It will have 53 degrees of freedom, including articulated hands to be used for manipulation and gesturing.
– The robot will be able to crawl and sit and autonomously transition from crawling to sitting and vice-versa.
– The robot is GPL/FDL: software, hardware, drawings, documentation, etc.
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Size, shape, dof’sA
pp
rox
93
4mm
243mm
369mm
439
mm
Avg. 14kg - 30.8 lb
From human data
From our experiencewith other platforms
Not quite! 23kg
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iCub CAD
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Hand and fingerAngle sensors
Tension sensor Tactile
Internal wires
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Sensors…
• Cameras
• Skin/tactile
• Gyros/inertial
• Microphones
640x480 colorRemote headVery smallbut otherwise standard
Small (0.67mm)Designing force/torque sensorFingertip 3-axis sensorJoint torque measurementConductive paint…QTC: rubber-like materialTension sensors?Organic FETs?
Standard, condenser electret
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More sensors…
• Tension Sensors
• Fingertips
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Head
Being assembled…
Upper torso + head + shoulder & elbow
Force/torque sensorControl cards
Foot (note the size)
Hips
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Latest Pictures
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Software ArchitectureMultiple YARP processes
Running on multiple processors
Gbit Ethernet
Level 0 APIs: data acquisition & motor control
DSP
iCubEmbeddedSystems
HUB
DSP DSP DSP
Sensors & Actuators
Level 1 APIs: perception/action behaviors
Cognitive Architecture
Innate perception/action primitives loose federation of behaviors
Based on phylogenic
configuration
own learning model
Level 2 APIs: Prospective Action Behaviors
Coordinated operation: Ontogenic Development
pc104
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Timeframe
• Sept 2007: – First Prototype completed, tested and debugged
• Sept 2007: – Launch of Competitive Calls
• March 2008: – 8 more platforms built for the scientific
community– Additional projects start
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Seeking International Collaboration
1. Joining effort with on-going project (and contribute to new proposals)
2. Directly support projects on “Cognition” based on iCub platform