the RobotCub project
Giulio Sandini
(1,2)
, Giorgio Metta (1,2) , David Vernon
University of Genoa
(2) Italian Institute of Technology
(1)
(1)
Main Figures
• RobotCub is a 5 years project funded by the
European Commission in the field of “cognitive
systems” (cordis.europa.eu/cognition)
• Presently the consortium is composed of 16 Partners,
11 from Europe, 3 from Japan and 2 from the USA.
• The consortium is coordinated by University of Genoa
• Total Funding is 8.5 M€ and total effort is 1,651
person-months (138 person-years)
The project started in September 2004
RobotCub
Robot-Cub scientific goal is to study the
development of cognitive manipulation skills
(manipulation, imitation, gesture communication)
Robot-Cub engineering goal is to build a
humanoid platform to be used by the scientific
community as a common platform  the iCub
Research Strategy
Global scientific community is best served by
creating an open platform and exploiting synergies
An Open System!!
Robot-Cub engineering goal is to build a
humanoid platform whose design is open to
the scientific community and can be
duplicated and improved by the community of
its users.
The iCub
The iCub is the humanoid baby-robot being
designed within the RobotCub project
– The iCub will be a full humanoid robot sized as a
two and half year-old child.
– The total height is estimated to be around 94cm.
– It will have 53 degrees of freedom, including
articulated hands to be used for manipulation
and gesturing.
– The robot will be able to crawl and sit and
autonomously transition from crawling to sitting
and vice-versa.
– The robot is GPL/FDL: software, hardware,
drawings, documentation, etc.
Size, shape, dof’s
243mm
369mm
From human data
439mm
Approx 934mm
From our experience
with other platforms
Avg. 14kg - 30.8 lb
Not quite! 23kg
iCub CAD
Hand and finger
Angle sensors
Tension sensor
Tactile
Internal wires
Sensors…
• Cameras
• Skin/tactile
• Gyros/inertial
• Microphones
640x480 color
Remote head
Very small
but otherwise standard
Small (0.67mm)
Designing force/torque sensor
Fingertip 3-axis sensor
Joint torque measurement
Conductive paint…
QTC: rubber-like material
Tension sensors?
Organic FETs?
Standard, condenser electret
More sensors…
• Tension Sensors
• Fingertips
Being assembled…
Foot (note the size)
Upper torso + head +
shoulder & elbow
Hips
Control cards
Force/torque sensor
Head
Latest Pictures
Level 2 APIs: Prospective Action Behaviors
Coordinated operation: Ontogenic Development
Based on
phylogenic
configuration
Level 1 APIs: perception/action behaviors
Cognitive
Architecture
own
learning
model
Innate perception/action primitives
loose federation of behaviors
Level 0 APIs: data acquisition & motor control
Multiple YARP processes
Running on multiple processors
Software
Architecture
Gbit Ethernet
HUB
DSP
DSP
pc104
DSP
Sensors & Actuators
DSP
iCub
Embedded
Systems
Timeframe
• Sept 2007:
– First Prototype completed, tested and debugged
• Sept 2007:
– Launch of Competitive Calls
• March 2008:
– 8 more platforms built for the scientific
community
– Additional projects start
Seeking International
Collaboration
1. Joining effort with on-going project
(and contribute to new proposals)
2. Directly support projects on
“Cognition” based on iCub platform