Difference between revisions of "ICub"

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Introduced by IIT, iCub is designed to understand and respond to human interaction. It is utilized extensively in research settings to explore motor control, vision, touch, grasping, manipulation, speech, and human-robot interaction.
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<youtube>https://www.youtube.com/watch?v=ErgfgF0uwUo</youtube>
  
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== References ==
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== General Specifications ==
  
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[https://www.iit.it/research/lines/icub IIT official website on iCub]
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The number of degrees of freedom is as follows:
  
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[https://www.youtube.com/watch?v=znF1-S9JmzI Presentation of iCub by IIT]
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{| class="wikitable"
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! Component !! # of degrees of freedom !! Notes
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|-
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| Eyes || 3 || Independent vergence and common tilt
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|-
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| Head || 3 || The neck has three degrees of freedom to tilt, swing, and pan
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|-
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| Chest || 3 || The torso can also tilt, swing, and pan
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|-
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| Arms || 7 (each) || The shoulder has 3 DoF, 1 in the elbow, and three in the wrist
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|-
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| 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.
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|-
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| Legs || 6 (each) || 6 DoF are sufficient to walk.
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|}
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== Sensors ==
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{| class="wikitable"
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! Sensor type !! Number !! Notes
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|-
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| Cameras || 2 || Mounted in the eyes (see above), Pointgrey Dragonfly 2 (640x480)
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|-
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| Microphones || 2 || SoundMan High quality Stereo Omnidirectional microphone, -46 dB, 10V, 20....20 000 Hz +/- 3dB
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|-
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| Inertial sensors || 3+3 || Three axis gyroscopes + three axis accelerometers + three axis geomagnetic sensor based on BOSCH BNO055 chip, mounted in the head. (100Hz)
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|-
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| 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)
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|-
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| 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
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|-
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| 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)
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|-
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| 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 (*).
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|}
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{| class="wikitable"
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|+ Capabilities of iCub
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! Task !! Description
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|-
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| Crawling || Using visual guidance with an optic marker on the floor
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|-
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| Solving complex 3D mazes || Demonstrated ability to navigate and solve intricate 3D mazes
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|-
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| Archery || Shooting arrows with a bow and learning to hit the center of the target
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|-
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| Facial expressions || Capable of expressing emotions through facial expressions
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|-
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| Force control || Utilizing proximal force/torque sensors for precise force control
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|-
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| Grasping small objects || Able to grasp and manipulate small objects such as balls and plastic bottles
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|-
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| Collision avoidance || Avoids collisions within non-static environments and can also avoid self-collision
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|}
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== Links ==
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* [https://www.iit.it/research/lines/icub IIT official website on iCub]
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* [https://www.youtube.com/watch?v=znF1-S9JmzI Presentation of iCub by IIT]
  
 
[[Category:Robots]]
 
[[Category:Robots]]
 
[[Category:Humanoid Robots]]
 
[[Category:Humanoid Robots]]
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[[Category:Instituto Italiano di Tecnologia]]
 

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
NameiCub
OrganizationInstituto Italiano
VideoVideo
CostApproximately €250,000
Height104 cm (3 ft 5 in)
Weight22 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 (*).
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[edit]

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