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Lower Body Design of the `Icub' a Human-Baby Like Crawling Robot

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Lower Body Design of the `Icub' a Human-Baby Like Crawling Robot CORE Metadata, citation and similar papers at core.ac.uk Provided by University of Salford Institutional Repository Lower Body Design of the ‘iCub’ a Human-baby like Crawling Robot N.G.Tsagarakis M. Sinclair F. Becchi Center of Robotics and Automation Center of Robotics and Automation TELEROBOT University of Salford University of Salford Advanced Robotics Salford , M5 4WT, UK Salford , M5 4WT, UK 16128 Genova, Italy [email protected] [email protected] [email protected] G. Metta G. Sandini D.G.Caldwell LIRA-Lab, DIST LIRA-Lab, DIST Center of Robotics and Automation University of Genova University of Genova University of Salford 16145 Genova, Italy 16145 Genova, Italy Salford , M5 4WT, UK [email protected] [email protected] [email protected] Abstract – The development of robotic cognition and a human like robots has led to the development of H6 and H7 greater understanding of human cognition form two of the [2]. Within the commercial arena there were also robots of current greatest challenges of science. Within the considerable distinction including those developed by RobotCub project the goal is the development of an HONDA. Their second prototype, P2, was introduced in 1996 embodied robotic child (iCub) with the physical and and provided an important step forward in the development of ultimately cognitive abilities of a 2 ½ year old human full body humanoid systems [3]. P3 introduced in 1997 was a baby. The ultimate goal of this project is to provide the scaled down version of P2 [4]. ASIMO (Advanced Step in cognition research community with an open human like Innovative Mobility) a child sized robot appeared in 2000. platform for understanding of cognitive systems through ASIMO has 6 D.O.F./Legs, 5 D.O.F./Arms, 1 D.O.F./Hand, 2 the study of cognitive development. D.O.F./Head) and new walking technology (i-WALK) [5] In this paper the design of the mechanisms adopted for which allowed it to walk continuously while changing lower body and particularly for the leg and the waist are directions. outlined. This is accompanied by discussion on the A more recent research effort in Europe and in particular actuator group realisation in order to meet the torque at the Technical University of Munich has led to the requirements while achieving the dimensional and weight development of JOHNNIE, an anthropomorphic autonomous specifications. Estimated performance measures of the biped robot with 17 D.O.F. [6]. HRP is another humanoid iCub are presented. robotics project, coordinated by METI in Japan resulting in the development of two humanoid platforms HRP and HRP- Index Terms – Lower body, Humanoid, Crawling, Legs. 2[7-8]. Other more recent medium size humanoids include SAIKA [9] a low cost 30 D.O.F robot and KENTA [10] that I. INTRODUCTION employs a flexible spine structure and is powered by In the past decade the need for human friendly robots to pneumatic muscles. interact with humans and assist them in the execution of daily In addition to the above examples of adult or medium activities has been increasingly recognized. Anthropomorphic sized anthropomorphic robots a number of smaller prototypes robots combine many desirable features needed to satisfy such have been also constructed. MK.5 is a compact size humanoid a goal including natural human like locomotion and human robot constructed by Aoyma Gakuin University [11]. The friendly design and behaviour. As a result, multi degree of PINO platform constructed by ERATO [12] is designed to be freedom human like robots have become more common and a humanoid that can be built by everyone, using cheap, off- an increasing number of humanoid robots have been designed the-shelf components. The idea of PINO development is to and fabricated. One of the first bipedal humanoid robots, provide a platform that will accelerate the research and WABOT-I, was developed at Waseda University back in development of humanoid robots by providing the technical 1973. This biped which was able to perform simple static information of PINO open to the public. Other compact size walking was followed by a long and distinguished series of humanoid robots are the SDR-3X (Sony Dream Robot-3X) robots leading to the most current developments of WABIAN and SDR-4X developed mainly for entertainment [13, 14] and I and II [1]. At the University of Tokyo research efforts on the humanoid and gorilla robot with multiple locomotion models developed by [15]. Although, nowadays the 1-4244-0200-X/06/$20.00 2006 IEEE 450 HUMANOIDS’06 Authorized licensed use limited to: UNIVERSITY OF SALFORD. Downloaded on March 24, 2009 at 10:23 from IEEE Xplore. Restrictions apply. application areas for most humanoid robots is still limited to (flexion/extension and abduction/adduction). The foot twist the entertainment and amusement applications it is expected rotation was not implemented. that as more humanoids robots are developed several new applications will be identified in all areas of domestic robotics such as offices, homes and hospitals. The concept behind the development of iCub is to provide the cognition research community with an open human like hardware/software platform for understanding of cognitive systems through the study of cognitive development. The iCub has as its aim the replication of the physical and cognitive abilities of a 2½ year old baby. This “baby” robot will act in a cognitive scenario, performing the tasks useful to learning, interacting with the environment and humans. In the early definition of the project two main tasks were considered from which the design requirements were derived. These are: 4 limbed crawling with the capacity to develop through learning to sitting, standing and walking and manipulation [16, 17]. Based on the requirements implied by these two tasks the design of the lower body of the iCub was realized This paper presents current progress on the design of the lower body modules of the iCub. The paper is organized as Fig. 1 Size specification for the iCub. follows: Section II gives the general specifications of the system in terms of size and D.O.F. The kinematics and the TABLE I motion requirements are presented in section III. The LEG MECHANISM NUMBER OF DOF following section describes in details the mechanical design, Degrees of Freedom (°) the actuation and the sensing adopted for the lower body. This Joint Human iCub includes the proposed waist and leg designs and the selection 3 3 of the actuators. Estimated performance measures of the Hip Flexion/Extension Flexion/Extension current design in terms of joint range of motion and output Abduction/Adduction Abduction/Adduction Rotation Rotation torque are introduced in section V. Finally, section VI 1 1 addresses conclusion and future work. Knee Flexion/Extension Flexion/Extension 3 2 II. LOWER BODY SPECIFICATIONS Ankle Flexion/Extension Flexion/Extension Abduction/Adduction Abduction/Adduction The kinematic specifications of the lower body of the Rotation - iCub include the definition of the number of D.O.F required 2 x 6DOF =12DOF and their actual location as well as the actual size of the legs and lower torso. These were defined with attention given to The D.O.F required for the waist was determined by addressing the requirement for crawling and manipulation and considering both the crawling and the manipulation in general the need to imitate the human baby form. As prerequisites. Crawling simulation analysis showed that for already mentioned, the size of the iCub will approximate all effective crawling a 3 D.O.F waist is essential, Table II. the dimensions of a two and a half year old child, Fig 1 [17]. Regarding the number of D.O.F of the lower body, several TABLE II iCub simulation models were developed and analysed. For the WAIST MECHANISM NUMBER OF DOFS legs these simulations have indicated that for crawling, sitting Degrees of Freedom (°) and squatting a 5 D.O.F leg is adequate. However, it was Joint Human iCub decided to incorporate an additional D.O.F at the ankle to 3 3 support not only crawling but also standing (supported and Roll Roll unsupported) and walking, Table I. As different research Pitch Pitch Waist Yaw Yaw groups may also interested in walking and balance research the incorporation of the additional D.O.F to support the ankle =3DOF lateral motion was considered as an advantage for the iCub in An additional advantage that a 3 D.O.F waist offers is the terms of the open platform nature of the system. Therefore, increased range and flexibility of motion for the upper body. each leg consists of 6 D.O.F: that include 3 D.O.F at the hip, This increased flexibility results in an amplified workspace for 1 D.O.F at the knee level and 2 D.O.F at the level of the ankle the iCub when performing manipulation tasks using its hands while in a sitting position. As manipulation is directly related 451 Authorized licensed use limited to: UNIVERSITY OF SALFORD. Downloaded on March 24, 2009 at 10:23 from IEEE Xplore. Restrictions apply. to learning and is an essential task for the iCub the 3 D.O.F workspace of the baby-like robot while the robot is in a sitting waist will provide significant benefits. Based on above, the position. iCub waist needs to provide pitch, roll and yaw in the upper TABLE III body. RANGE OF MOTION OF THE LEG JOINTS Leg X 2 Range of motion (°) III. LOWER BODY KINEMATIC DESIGN AND RANGE OF MOTION SPECIFICATIONS Joint Human iCub Figure 2 shows an overview of lower body kinematics Hip rotation -43.5, +45.5 -91,+31 with the location of the degrees of freedom reported in tables I Hip Abduction/Adduction -40, +45 -31,+45 and II.
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