Giorgio Metta
ABSTRACT
We report about the iCub, a humanoid robot for research in embodied cognition. At 104 cm tall, the iCub has the size of a three and half year old child. It will be able to crawl on all fours and sit up to manipulate objects. Its hands have been designed to support sophisticate manipulation skills. The iCub is distributed as Open Source following the GPL/FDL licenses. The entire design is available for download from the project homepage and repository (http://www.robotcub.org). In the following, we will concentrate on the description of the hardware and software systems. The scientific objectives of the project and its philosophical underpinning are described extensively elsewhere [1].
References
- L. Fadiga, L. Craighero, and E. Olivier, "Human motor cortex excitability during the perception of others' action," Current Biology, vol. 14 pp. 331--333, 2005.Google Scholar
- L. Fadiga, L. Craighero, G. Buccino, and G. Rizzolatti, "Speech listening specifically modulates the excitability of tongue muscles: a TMS study," European Journal of Neuroscience, vol. 15, pp. 399--402, 2002.Google ScholarCross Ref
- G. Rizzolatti and L. Fadiga, "Grasping objects and grasping action meanings: the dual role of monkey rostroventral premotor cortex (area F5)," in Sensory Guidance of Movement, Novartis Foundation Symposium, G. R. Bock and J. A. Goode, Eds. Chichester: John Wiley and Sons, 1998, pp. 81--103.Google Scholar
- D. Vernon, G. Metta, and G. Sandini, "A Survey of Cognition and Cognitive Architectures: Implications for the Autonomous Development of Mental Capabilities in Computational Systems," IEEE Transactions on Evolutionary Computation, special issue on AMD, vol. 11, 2007. Google ScholarDigital Library
- C. von Hofsten, "On the development of perception and action," in Handbook of Developmental Psychology, J. Valsiner and K. J. Connolly, Eds. London: Sage, 2003, pp. 114--140.Google Scholar
- G. Sandini, G. Metta, and D. Vernon, "RobotCub: An Open Framework for Research in Embodied Cognition," presented at IEEE-RAS/RJS International Conference on Humanoid Robotics, Santa Monica, CA, 2004.Google Scholar
- P. Fitzpatrick, G. Metta, and L. Natale, "Towards Long-Lived Robot Genes," Journal of Robotics and Autonomous Systems, Special Issue on Humanoid Technologies, vol. 56, 2008. Google ScholarDigital Library
- N. G. Tsagarakis, G. Metta, G. Sandini, D. Vernon, R. Beira, F. Becchi, L. Righetti, J. Santos-Victor, A. J. Ijspeert, M. C. Carrozza, and D. G. Caldwell, "iCub -- The Design and Realization of an Open Humanoid Platform for Cognitive and Neuroscience Research," Advanced Robotics, vol. 21, 2007.Google Scholar
- M. Maggiali, G. Cannata, P. Maiolino, G. Metta, M. Randazzo, and G. Sandini, "Embedded Distributed Capacitive Tactile Sensor," presented at The 11th Mechatronics Forum Biennial International Conference 2008, University of Limerick, Ireland, 2008.Google Scholar
- S. D. Huston, J. C. E. Johnson, and U. Syyid, The ACE Programmer's Guide: Addison-Wesley, 2003.Google Scholar
Index Terms
The iCub humanoid robot: an open platform for research in embodied cognition
Comments