Difference between revisions of "ICub"
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| − | The iCub is a research-grade humanoid robot for developing and testing embodied AI algorithms. The iCub Project integrates results from various [[Instituto Italiano]] Research Units. | + | The iCub is a research-grade humanoid robot for developing and testing embodied AI algorithms. The iCub Project integrates results from various [[Instituto Italiano]] Research Units. The iCub Project is a key initiative for IIT, aiming to transfer robotics technologies to industrial applications. |
| − | The | + | {{infobox robot |
| + | | name = iCub | ||
| + | | organization = [[Instituto Italiano]] | ||
| + | | height = 104 cm (3 ft 5 in) | ||
| + | | weight = 22 kg (48.5 lbs) | ||
| + | | video_link = https://www.youtube.com/watch?v=ErgfgF0uwUo | ||
| + | | cost = Approximately €250,000 | ||
| + | }} | ||
| + | |||
| + | <youtube>https://www.youtube.com/watch?v=ErgfgF0uwUo</youtube> | ||
| + | |||
| + | == General Specifications == | ||
| + | |||
| + | The number of degrees of freedom is as follows: | ||
| + | |||
| + | {| class="wikitable" | ||
| + | ! Component !! # of degrees of freedom !! Notes | ||
| + | |- | ||
| + | | Eyes || 3 || Independent vergence and common tilt | ||
| + | |- | ||
| + | | Head || 3 || The neck has three degrees of freedom to tilt, swing, and pan | ||
| + | |- | ||
| + | | Chest || 3 || The torso can also tilt, swing, and pan | ||
| + | |- | ||
| + | | Arms || 7 (each) || The shoulder has 3 DoF, 1 in the elbow, and three in the wrist | ||
| + | |- | ||
| + | | Hands || 9 || The hand has 19 joints coupled in various combinations: the thumb, index, and middle finger are independent (coupled distal phalanxes), the ring and little finger are coupled. The thumb can additionally rotate over the palm. | ||
| + | |- | ||
| + | | Legs || 6 (each) || 6 DoF are sufficient to walk. | ||
| + | |} | ||
| + | |||
| + | == Sensors == | ||
| + | |||
| + | {| class="wikitable" | ||
| + | ! Sensor type !! Number !! Notes | ||
| + | |- | ||
| + | | Cameras || 2 || Mounted in the eyes (see above), Pointgrey Dragonfly 2 (640x480) | ||
| + | |- | ||
| + | | Microphones || 2 || SoundMan High quality Stereo Omnidirectional microphone, -46 dB, 10V, 20....20 000 Hz +/- 3dB | ||
| + | |- | ||
| + | | Inertial sensors || 3+3 || Three axis gyroscopes + three axis accelerometers + three axis geomagnetic sensor based on BOSCH BNO055 chip, mounted in the head. (100Hz) | ||
| + | |- | ||
| + | | Joint sensors || For each large joint || Absolute magnetic encoder (12bit resolution @1kHz) at the joint, high-resolution incremental encoder at the motor side, hall-effect sensors for commutation (brushless motors only) | ||
| + | |- | ||
| + | | Joint sensors || For each small joint || Absolute magnetic encoder (except the fingers which use a custom hall-effect sensor), medium-resolution incremental encoder at the motor | ||
| + | |- | ||
| + | | Force/torque sensors || 6 || 6x6-axis force/torque sensors are mounted on the upper part of the arm and legs plus 2 additional sensors mounted closer to the ankle for higher precision ZMP estimation (100Hz) | ||
| + | |- | ||
| + | | Tactile sensors || More than 3000 (*) || Capacitive tactile sensors (8 bit resolution at 40Hz) are installed in the fingertips, palms, upper and fore-arms, chest and optionally at the legs (*). | ||
| + | |} | ||
| + | |||
| + | {| class="wikitable" | ||
| + | |+ Capabilities of iCub | ||
| + | ! Task !! Description | ||
| + | |- | ||
| + | | Crawling || Using visual guidance with an optic marker on the floor | ||
| + | |- | ||
| + | | Solving complex 3D mazes || Demonstrated ability to navigate and solve intricate 3D mazes | ||
| + | |- | ||
| + | | Archery || Shooting arrows with a bow and learning to hit the center of the target | ||
| + | |- | ||
| + | | Facial expressions || Capable of expressing emotions through facial expressions | ||
| + | |- | ||
| + | | Force control || Utilizing proximal force/torque sensors for precise force control | ||
| + | |- | ||
| + | | Grasping small objects || Able to grasp and manipulate small objects such as balls and plastic bottles | ||
| + | |- | ||
| + | | Collision avoidance || Avoids collisions within non-static environments and can also avoid self-collision | ||
| + | |} | ||
| + | |||
| + | |||
| + | == Links == | ||
| + | |||
| + | * [https://www.iit.it/research/lines/icub IIT official website on iCub] | ||
| + | * [https://www.youtube.com/watch?v=znF1-S9JmzI Presentation of iCub by IIT] | ||
| + | |||
| + | [[Category:Robots]] | ||
| + | [[Category:Humanoid Robots]] | ||
Latest revision as of 21:44, 6 July 2024
The iCub is a research-grade humanoid robot for developing and testing embodied AI algorithms. The iCub Project integrates results from various Instituto Italiano Research Units. The iCub Project is a key initiative for IIT, aiming to transfer robotics technologies to industrial applications.
| iCub | |
|---|---|
| Name | iCub |
| Organization | Instituto Italiano |
| Video | Video |
| Cost | Approximately €250,000 |
| Height | 104 cm (3 ft 5 in) |
| Weight | 22 kg (48.5 lbs) |
General Specifications[edit]
The number of degrees of freedom is as follows:
| Component | # of degrees of freedom | Notes |
|---|---|---|
| Eyes | 3 | Independent vergence and common tilt |
| Head | 3 | The neck has three degrees of freedom to tilt, swing, and pan |
| Chest | 3 | The torso can also tilt, swing, and pan |
| Arms | 7 (each) | The shoulder has 3 DoF, 1 in the elbow, and three in the wrist |
| Hands | 9 | The hand has 19 joints coupled in various combinations: the thumb, index, and middle finger are independent (coupled distal phalanxes), the ring and little finger are coupled. The thumb can additionally rotate over the palm. |
| Legs | 6 (each) | 6 DoF are sufficient to walk. |
Sensors[edit]
| Sensor type | Number | Notes |
|---|---|---|
| Cameras | 2 | Mounted in the eyes (see above), Pointgrey Dragonfly 2 (640x480) |
| Microphones | 2 | SoundMan High quality Stereo Omnidirectional microphone, -46 dB, 10V, 20....20 000 Hz +/- 3dB |
| Inertial sensors | 3+3 | Three axis gyroscopes + three axis accelerometers + three axis geomagnetic sensor based on BOSCH BNO055 chip, mounted in the head. (100Hz) |
| Joint sensors | For each large joint | Absolute magnetic encoder (12bit resolution @1kHz) at the joint, high-resolution incremental encoder at the motor side, hall-effect sensors for commutation (brushless motors only) |
| Joint sensors | For each small joint | Absolute magnetic encoder (except the fingers which use a custom hall-effect sensor), medium-resolution incremental encoder at the motor |
| Force/torque sensors | 6 | 6x6-axis force/torque sensors are mounted on the upper part of the arm and legs plus 2 additional sensors mounted closer to the ankle for higher precision ZMP estimation (100Hz) |
| Tactile sensors | More than 3000 (*) | Capacitive tactile sensors (8 bit resolution at 40Hz) are installed in the fingertips, palms, upper and fore-arms, chest and optionally at the legs (*). |
| Task | Description |
|---|---|
| Crawling | Using visual guidance with an optic marker on the floor |
| Solving complex 3D mazes | Demonstrated ability to navigate and solve intricate 3D mazes |
| Archery | Shooting arrows with a bow and learning to hit the center of the target |
| Facial expressions | Capable of expressing emotions through facial expressions |
| Force control | Utilizing proximal force/torque sensors for precise force control |
| Grasping small objects | Able to grasp and manipulate small objects such as balls and plastic bottles |
| Collision avoidance | Avoids collisions within non-static environments and can also avoid self-collision |
