Difference between revisions of "ICub"
(→General Specifications) |
|||
| Line 31: | Line 31: | ||
| Legs || 6 (each) || 6 DoF are sufficient to walk. | | Legs || 6 (each) || 6 DoF are sufficient to walk. | ||
|} | |} | ||
| + | |||
| + | == Sensors == | ||
{| class="wikitable" | {| class="wikitable" | ||
| Line 42: | Line 44: | ||
|- | |- | ||
| 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 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 (*). | ||
|} | |} | ||
| − | |||
== References == | == References == | ||
Revision as of 19:33, 26 May 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
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
| 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 (*). |
