ICRA 2011 Paper Abstract


Paper TuP203.3

Tsagarakis, Nikolaos (Italian Institute of Technology (IIT)), Li, Zhibin (Italian Institute of Technology), Saglia, Jody Alessandro (Fondazione Istituto Italiano di Tecnologia), Caldwell, Darwin G. (Italian Institute of Technology)

The Design of the Lower Body of the Compliant Humanoid Robot “cCub”

Scheduled for presentation during the Regular Sessions "Humanoid Robots II" (TuP203), Tuesday, May 10, 2011, 15:55−16:10, Room 3D

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on April 2, 2020

Keywords Humanoid Robots, Compliant Joint/Mechanism


The “iCub” is a robotic platform that was developed by the RobotCub [1] consortium to provide the cognition research community with an open “child-like” humanoid platform for understanding and development of cognitive systems [1]. In this paper we present the mechanical realization of the lower body developed for the “cCub” humanoid robot, a derivative of the original “iCub”, which has passive compliance in the major joints of the legs. It is hypothesized that this will give to the robot high versatility to cope with unpredictable disturbance ranging from small uneven terrain variations to unexpected collisions or even accidental falls. As part of the AMARSI European project, the passive compliance of this newly developed robot will be exploited for safer interaction, energy efficient and more aggressive damage-safe learning. The passive compliant actuation module used is a compact unit based on the series elastic actuator principle (SEA). In addition to the passive compliance the “cCub” design includes other significant updates over the original prototype such as full joint state sensing including joint torque sensing and improved range of motion and torque capabilities. In this paper, the new leg mechanisms of the “cCub” robot are introduced.



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