In its final version, the robot has 53 actuated degrees of freedom organized as follows: The robot was not designed for autonomous operation, and is consequently not equipped with onboard batteries or processors required for this -instead an umbilical cable provides power and a network connection.
#ICAB ANDROID SOFTWARE#
The software library is largely written in C++ and uses YARP for external communication via Gigabit Ethernet with off-board software implementing higher level functionality, the development of which has been taken over by the RobotCub Consortium.
#ICAB ANDROID SKIN#
The finger tips can be equipped with tactile touch sensors, and a distributed capacitive sensor skin is being developed. Joint angles are measured using custom-designed Hall-effect sensors and the robot can be equipped with torque sensors. It utilises tendon driven joints for the hand and shoulder, with the fingers flexed by teflon-coated cable tendons running inside teflon-coated tubes, and pulling against spring returns. The robot is controlled by an on-board PC104 controller which communicates with actuators and sensors using CANBus. The dimensions of the iCub are similar to that of a 3.5-year-old child. Specifications Īn iCub at a live demo making facial expressions The robot was designed to test this hypothesis by allowing cognitive learning scenarios to be acted out by an accurate reproduction of the perceptual system and articulation of a small child so that it could interact with the world in the same way that such a child does. A baby learns many cognitive skills by interacting with its environment and other humans using its limbs and senses, and consequently its internal model of the world is largely determined by the form of the human body. The motivation behind the strongly humanoid design is the embodied cognition hypothesis, that human-like manipulation plays a vital role in the development of human cognition. Initial funding for the project was €8.5 million from Unit E5 – Cognitive Systems and Robotics – of the European Commission's Seventh Framework Programme, and this ran for 65 months from 1 September 2004 until 31 January 2010.
The name is a partial acronym, cub standing for Cognitive Universal Body. The robot is open-source, with the hardware design, software and documentation all released under the GPL license. It was designed by the RobotCub Consortium of several European universities and built by Italian Institute of Technology, and is now supported by other projects such as ITALK. ICub is a 1 metre tall open source robotics humanoid robot testbed for research into human cognition and artificial intelligence. Non-free operating systems: OS X, Windows Free/Libre operating systems: Linux, FreeBSD, NetBSD, OpenBSD
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