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Thread: iCub, humanoid robot, Italian Institute of Technology (IIT), Genova, Italy, RobotCub Consortium, Europe

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    iCub, humanoid robot, Italian Institute of Technology (IIT), Genova, Italy, RobotCub Consortium, Europe

    Designer - Italian Institute of Technology (IIT), Genova, Italy

    Website - icub.iit.it
    icub.org

    youtube.com/robotcub

    facebook.com/iCubHumanoid

    twitter.com/iCub

    iCub on Wikipedia

    Project CoDyCo, Whole-body Compliant Dynamical Contacts in cognitive contacts, Cognitive Systems and Robotics

    Director of the iCub Facility at the Istituto Italiano di Tecnologia in Genoa busying myself in running the iCub humanoid robot project - Giorgio Metta
    Last edited by Airicist2; 5th June 2023 at 09:12.

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    iCub - the robot child

    Uploaded on May 13, 2009

    IIT interview by Euronews regarding the Robotcub project.


    iCub - Humanoid Platform

    Uploaded on Dec 6, 2011

    The iCub is the humanoid robot developed as part of the EU project RobotCub and subsequently adopted by more than 20 laboratories worldwide. It can see and hear, it has the sense of proprioception and movement.

    Credits: Laura Taverna, Matteo Tamboli, Vadim Tikhanoff, Carlo Ciliberto, Ugo Pattacini, Lorenzo Natale, Francesco Nori, Francesco Becchi, Giorgio Metta, Giulio Sandini. Robotics, Brain & Cognitive Sciences - Italian Institue of Technology


    All gestures you can 2.0

    Published on Nov 5, 2013

    This video shows a new version of the memory game "All gestures you can",
    where a human challenges the humanoid robot iCub. "All gestures you can" is a real-time memory game: the goal is to perform the longest sequence of hand gestures that you or the opponent can remember. This game is based on a Gesture Recognition System, that exploits 3D features based on motion and appearance; these features are then enriched with a sparse coding stage and classified by Linear SVMs. In the previous version we used Kinect to obtain 3D information; in this case instead, we rely directly on the stereo vision of the iCub. Furthermore, we are now able to train new gestures in real-time, via a single demonstration.

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    Enhancing Software module reusability using port plug-ins: an iCub Experiment

    Published on Apr 17, 2014

    Systematically developing high--quality reusable software components is a difficult task and requires careful design to find a proper balance between potential reuse, functionalities and ease of implementation. Extendibility is an important property for software which helps to reduce cost of development and significantly boosts its reusability. This work introduces an approach to enhance components reusability by extending their functionalities using plug-ins at the level of the connection points (ports). Application dependent functionalities such as data monitoring and arbitration can be implemented using a conventional scripting language and plugged into the ports of components. The main advantage of our approach is that it avoids to introduce application dependent modifications to existing components, thus reducing development time and fostering the development of simpler and therefore more reusable components. Another advantage of our approach is that it reduces communication and deployment overheads because extra functionalities can be added without introducing additional modules. The video demonstrates the port plug-in in a clean the table scenario on the iCub Humanoid robot.

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    Execution of Pushing Action with Semantic Event Chains: iCub First Integration

    Published on Apr 17, 2014

    Here we present the first integration of the framework for manipulation execution based on the so called "Semantic Event Chain" on the iCub robot. The Semantic Event Chain is an abstract description of relations between the objects in the scene. It captures the change of those relations during a manipulation and thereby provides the decisive temporal anchor points by which a manipulation is critically defined.

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    The 10th iCub birthday

    Published on May 26, 2014

    The iCub is a humanoid robot shaped as a four years old child. It is available as an open system platform following the GPL license. The iCub was originally designed by a consortium of 11 partners guided by the Italian Institute of Technology, with background ranging from engineering to neurophysiology and developmental psychology, within the RobotCub Integrated Project funded by European Commission through its Cognitive Systems and Robotics Unit. The iCub can crawl on all fours and sit up. Its hands allow dexterous manipulation and its head and eyes are fully articulated. It has visual, vestibular, auditory, and tactile sensory capabilities. In the past few years the community of researchers working on the iCub grew at a constant pace. Today there are more than 25 iCub platforms available worldwide. Simultaneously the platform evolved significantly in terms of its sensors and actuators. Thanks to the recent improvements the iCub is now equipped with: whole-body distributed tactile and force/torque sensing, series elastic actuators for compliant walking experiments (the COMAN actuators) and movable head with microphones, speaker, actuated eyes, eyelids and lips for speech and human-robot interaction studies. The key advantage of the iCub is that it is an integrated platform that allows the study of complex tasks that require speech and auditory perception, vision as well as proper coordination and integration of sensory data and control. We believe that this, more than ever, requires that researchers with different expertise join forces and start working together. Having platforms with compatible software and hardware is clearly a unique opportunity for collaboration.

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    iCub balancing by controlling external forces: CoDyCo project results

    Published on May 29, 2014

    iCub, the humanoid robot of the Italian Institute of Techology, can stand and balance even when interacting with people. Thanks to the artificial skin, which equips the robot with 4000 sensitive contact points, the iCub's control system measures the external forces and properly regulate these interactions in order to keep the balance.

    These new capacities will be pivotal when iCub will cohabitate with human beings in domestic environments. The results have been achieved by the researches working at the Italian Institute of Technology and, in particular, by those funded by the European Project CoDyCo, coordinated by Dr. Francesco Nori.

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    3D Estimation and Fully Automated Learning of Eye-Hand Coordination in Humanoid Robots

    Published on Oct 20, 2014

    This work deals with the problem of 3D estimation and eye-hand calibration in humanoid robots. Using the iCub humanoid robot, we developed a fully automatic procedure based on optimization techniques that does not require any human supervision. The end-effector of the humanoid robot is automatically detected in the stereo images. We demonstrate the usefulness and the effectiveness of the proposed system in two typical robotic scenarios: (1) object grasping; (2) 3D scene reconstruction.

    Fanello S.R., Pattacini U., Gori I., Tikhanoff V., Randazzo M., Roncone A., Odone F. & Metta G. 2014, ‘3D Stereo Estimation and Fully Automated Learning of Eye-Hand Coordination in Humanoid Robots’, IEEE-RAS International Conference on Humanoid Robots, Madrid, Spain, November 18-20, 2014.

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    Automatic kinematic chain calibration using artificial skin

    Published on Oct 22, 2014

    This video deals with the task of solving the problem of self-(or double-)touch. This behaviour is defined as the robot being able to touch itself on a specific region of the skin, and it represents an unprecedented opportunity for a humanoid robot to achieve the simultaneous activation of multiple skin parts (in this video, patches belonging to the right hand and the left forearm). This high amount of information can be then used later on for exploiting a completely autonomous calibration of the body model (i.e. kinematic calibration or tactile calibration). In the reference paper cited below, this competence has been used to perform a kinematic calibration of both the right and the left arms.

    Roncone A., Hoffmann M., Pattacini U. & Metta G. 2014, ‘Automatic kinematic chain calibration using artificial skin: self-touch in the iCub humanoid robot’, IEEE International Conference on Robotics and Automation (ICRA2014), IEEE pp.2305-2312, , Hong Kong, China, May 31-June 7, 2014.

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    Learning grasp dependent pull affordances of tools on the iCub humanoid robot

    Published on Nov 11, 2014

    This video shows a condensed version of the experiment carried out in order to study how tool affordances can be learned and predicted based on the tool’s functional/geometrical features. In a nutshell, what the robot does on each trial is to associate the geometrical features of the tool with the affordance of the action performed with that tool grasped in a particular orientation. Affordance here is defined as the vector representing the measure of the effect as a function of an action parameter. In this case the action parameter is the position of the tool with respect to the object while the effect is the displacement of the object after the pull action.
    In this experiment we use 3 grasp orientations and 4 tools. After enough trials have been recorded a classifier is trained to predict the affordance of a tool based on its geometrical features. Based on this prediction, the iCub is able to determine how to position the tool to pull the object closer more successfully.

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