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The Mechanical Design of the New Lower Body for the Child Humanoid Robot ‘Icub’

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The Mechanical Design of the New Lower Body for the Child Humanoid Robot ‘Icub’ The 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems October 11-15, 2009 St. Louis, USA The Mechanical Design of the New Lower Body for the Child Humanoid robot ‘iCub’ Nikos G.Tsagarakis1, Bram Vanderborght1,2, Matteo Laffranchi1 and Darwin G.Caldwell1 1Italian Institute of Technology (IIT), Genova 16163, Italy 2Vrije Universiteit Brussel (VUB), B-1050 Brussels, Belgium Abstract—The “iCub” is a robotic platform that was developed continuous improvement from their predecessors. Hence, the within the RobotCub European project to provide the current ASIMO humanoid developed from E0 (1986), E1- cognition research community with an open “child-like” E2-E3 (1987-1991), E4-E5-E6 (1991-1993), P1-P2-P3 humanoid platform for understanding and development of (1993-1997), through to the original ASIMO (2000) and the cognitive systems [1]. In this paper we present the mechanical new Asimo (2005) [3, 4]. The Humanoid Robot Platform realization of the new lower body developed for the “iCub” (HRP) started with an adapted Honda P3 and subsequently child humanoid robot in order to keep up with the latest technology and solve mechatronic problems found in the HRP-2L, HRP-2P, HRP-2, HRP-3 were released [5]. Soon previous version. The new lower body assembly demonstrates HRP-4 will be introduced which reportedly looks like a significant improvements over the old prototype including woman with a realistic geometry. QRIO was originally higher modularity, full joint state sensing and improved range named Sony Dream Robot or SDR with prototype models of motion and torque capabilities. In particular the new leg and SDR-3 and SDR-4X [6], while the TUM humanoid LOLA is waist mechanisms to match the size and physical abilities of a an enhancement over Johnnie [7]. Similarly KAIST built 3½ year old human child are introduced. KHR-1, KHR-2 and KHR-3 (Hubo) [8]. Waseda built different models from their first humanoid ever in 1973 to I. INTRODUCTION Wabian-2R [9]. nthropomorphic design, natural and adaptive The RobotCub project [10] is a research initiative Alocomotion and human like behavior and performance dedicated to the realization of embodied cognitive systems are some of the intrinsic features that have driven the and the creation of an advanced robotic platform for rapid growth of humanoid robots during the past decade. neuroscientific study. The two main goals of this project are: The development of such a humanoid platform that has the physical capacity of a human being poses many challenges i) Creation of an OPEN hardware/software humanoid from the mechatronic point of view. These must be robotic platform for research in embodied cognition. This is addressed in a methodical and concurrent manner in order to the “iCub”. co-ordinate and integrate the various components that form ii) Advancing our neural understanding of cognitive the complete mechatronic platform. There is clearly a systems by exploiting this platform in the study of the requirement for many iterations of the design process before development of cognitive capabilities in humanoid robots. reaching the final prototype. These are usually guided by the experience gained from previous prototypes, as well as the The “iCub” platform has as its aim the replication of the advances in actuation, materials, sensor technologies, the physical and cognitive abilities of a 3½ year old child. This increasing computational power and other supporting “child” robot will act in a cognitive scenario, performing the technologies such as electronics and ICT. tasks useful to learning, and interacting with the The first humanoid developed back in 1973 [2] formed environment and humans. The OPEN approach of the the basis for all subsequent designs with all current “iCub” combined with the small size (104cm tall), low successful humanoids being produced as part of a process of weight (<23kg) and very compact structure (fitting within the volume of a child) and high number (53) of degrees of N.G.Tsagarakis is with the Italian institute of Technology (IIT), Genova freedom form fundamental differences with the many 16163, Italy (phone: +39 010 71781 428; e-mail: nikos.tsagarakis@ iit.it). excellent humanoids already developed. It is evident that the Bram Vanderborght is with the Italian institute of Technology (IIT), Genova 16163, Italy ( e-mail: Bram.Vanderborght @ iit.it) and within the OPEN nature of the “iCub” platform induces high needs for University of Brussels, Belgium robustness and easy maintenance. This paper reports on the Matteo Laffrangi is with the Italian institute of Technology (IIT), Genova design of the new lower body modules for the “iCub”. The 16163, Italy ( e-mail: Matteo.Laffranchi@ iit.it) . new lower body assembly was designed and built based on D.G.Caldwell is with the Italian institute of Technology (IIT), Genova 16163, Italy (e-mail: darwin.caldwell@ iit.it). the knowledge gained from the first successful prototype. It demonstrates significant improvements over the old 978-1-4244-3804-4/09/$25.00 ©2009 IEEE 4962 prototype including higher modularity, reduced complexity, In particular, the range of the waist joint has been better quality full joint state sensing, and improved range of extended/modified to increase the manipulation workspace motion and torque capabilities. of the child-like robot. The range of the waist yaw and roll The paper is organized as follows: Section II gives the has been increased while the range of the pitch motion was specifications of the new lower body. Sections III and IV modified to increase the upper body forward tilting. This introduce the enhancements/modifications done on the effectively improves the workspace for the iCub’s arms mechanical design, the actuation and the sensing of the while the robot is in a sitting position. lower body. Section V presents experimental results from In some joints the specified range of motion of robot is joint tracking performance experiments and characteristic smaller compared to that of the “standard” human, measures of the new design in terms of joint range of Simulation studies have confirmed that for these joints the motion, and output torque. These are compared with those range of motions provided in the specification is sufficient of the original prototype. Finally, section VI addresses the to ensure that the “iCub” can perform the basic exploratory conclusions. and manipulation procedures required for the “child”. II. LOWER BODY SPECIFICATIONS TABLE I SPECIFICATIONS FOR THE RANGE OF MOTION OF THE LOWER BODY JOINTS. An extensive description of the first prototype of the Human [13] iCub lower body design of “iCub” is provided in [11]. The size of LEG Range of motion (°) the “iCub” approximates the dimensions of a 3½ year old child. In the new lower body design the total length and Hip Flexion/Extension +45, -147 +45,-120 mechanical interface mechanism with the upper body Hip Abduction/Adduction +45, -40 +45,-31 remained unchanged so the new legs can be added to the Hip Rotation +45.5, -43.5 +31,-91 current upper body without any modifications. The number Knee +127.5, 0 +130,-5 of degrees of freedom in the lower body also remained Ankle Flexion/Extension +34, -51.5 +30,-40 unchanged. Ankle Abduction/Adduction +58, -44.5 +25,-25 The initial functional specification for the “iCub” legs Ankle Twist +36.5,-34 Not Implemented was to have a capacity to sit, squat and crawl. These actions WAIST were rigorously simulated and it was determined that a 5 Waist roll +35, -35 +60,-60 D.O.F leg could achieve these goals. However, subsequent Waist pitch +70, -30 +90,-10 study suggested that standing and childlike walking would Waist yaw +40, -40 be appropriate further goals and an additional D.O.F at the +60,-60 ankle to support standing (supported and unsupported) and walking formed a new upgraded specification. Therefore, The torque requirements used were identical to those each leg consists of 6 D.O.F: 3 D.O.F at the hip, 1 D.O.F at specified for the first prototype. These torque requirements, the knee level and 2 D.O.F at the level of the ankle and Table II, were obtained from crawling simulations using equals the design approach chosen in many other bipedal Webots [14] at different gait speeds (0.5Hz cycles and 1Hz robots. cycles) and with transitions from sitting to crawling pose For the waist most humanoids usually have a relatively and vice versa [11]. Ankle abduction/adduction does not simple 2 D.O.F. mechanism, however humanoids trying to contribute much during crawling motions and was omitted replicate the functionally of the human spine have also been in these simulations. developed [12]. For the “iCub” a 3 D.O.F waist was TABLE II considered as this implementation offers greater motion SPECIFICATIONS OF THE PEAK TORQUES OF THE LOWER BODY JOINTS. Peak Torque Peak Torque flexibility than that of the conventional 2 D.O.F waist JOINT mechanisms. This extra functionality is needed as very (Nm) at 0.5 Hz (Nm) at 1 Hz young children typically reach for objects from a seated Hip Flexion/Extension 38.5 46.3 position and flexibility at the waist increases their Hip Abduction/Adduction 15.1 37.1 workspace. At the same time the complexity is kept low in Hip Rotation 23.2 36.8 line with the requirements of the OPEN platform for Knee 28.0 27.4 robustness, easy maintenance and manufacturing. Based on Ankle Flexion/Extension 11.3 12.4 above, the “iCub” waist provides pitch, roll and yaw Waist Roll 26.5 27.2 motions for the upper body. Waist Pitch 34.3 45.8 The range of motion for the joints of the lower body was Waist Yaw 13.7 30.1 defined considering human ergonomic data, data from other successful humanoid platforms and simulation studies.
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