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iCub walking
Published on Jun 11, 2015
Torque Control balancing on iCub@Heidelberg
Published on May 29, 2015
This video shows the latest results achieved in the whole-body control of the iCub, the humanoid robot developed by the Italian Institute of Technology. In particular, it shows the performances of the balancing controller on the specific platform of iCub@Heidelberg, which has a different hardware configuration from the classical iCub.
The control of the robot is achieved by regulating the interaction forces between the robot and its surrounding environment. In particular, the force and torque exchanged between the robot's feet and the floor are regulated so that the robot keeps its balance even when strongly perturbed.
The results have been achieved by the researches working at the Italian Institute of Technology and, in particular, by those funded by the European Projects CoDyCo and Koroibot with Dr. Francesco Nori as principal investigator.
In Studio "iCub" puppy robot, and Roberto Cingolani
Published on Jun 24, 2015
iCub is a puppy 5 years, solutions to problems that we do not know yet. It is not remote controlled, is a humanoid, does it all! It needs to re-create that connection body and mind of humans. iCub is an Italian excellence, a global product of IT, was born in Genoa. Piero Angela: "The Italian Institute of Technology has 1500 people from 56 countries"
Learning Peripersonal Space on the iCub
Published on Sep 21, 2015
In this video, the tactile system is used in order to build a representation of space immediately surrounding the body - peripersonal space. In particular, the iCub skin acts as a reinforcement for the visual system, with the goal of enhancing the perception of the surrounding world. By exploiting a temporal and spatial congruence between a purely visual event (e.g. an object approaching the robot’s body) and a purely tactile event (e.g. the same object eventually touching a skin part), a representation is learned that allows the robot to autonomously establish a margin of safety around its body through interaction with the environment - extending its cutaneous tactile space into the space surrounding it.
We considered a scenario where external objects were approaching individual skin parts. A volume was chosen to demarcate a theoretical visual “receptive field” around every taxel. Learning then proceeded in a distributed, event-driven manner - every taxel stores and continuously updates a record of the count of positive (resulting in contact) and negative examples it has encountered.
Robot that can talk, see and hear engages with humans
Published on Sep 17, 2015
iCub, a talking humanoid robot head which is being taught how to talk and engage in natural interaction with humans, being unveiled at the ScotSoft Developers Conference in Edinburgh
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