Dimitri: an Open-Source Humanoid Robot with Compliant Joint

2017 ◽  
Vol 91 (2) ◽  
pp. 291-300 ◽  
Author(s):  
Christopher Tatsch ◽  
Ahmadreza Ahmadi ◽  
Fabrício Bottega ◽  
Jun Tani ◽  
Rodrigo da Silva Guerra
Keyword(s):  
Open Source ◽  
Humanoid Robot ◽  
Compliant Joint

THE DESIGN OF THE iCub HUMANOID ROBOT

2012 ◽  
Vol 09 (04) ◽  
pp. 1250027 ◽  
Author(s):  
ALBERTO PARMIGGIANI ◽  
MARCO MAGGIALI ◽  
LORENZO NATALE ◽  
FRANCESCO NORI ◽  
ALEXANDER SCHMITZ ◽  
...  
Keyword(s):  
Embodied Cognition ◽  
Open Source ◽  
Humanoid Robot ◽  
Hardware Design ◽  
Robotic Platform ◽  
Support Research ◽  
Sensing Performance ◽  
Electronic Design

This article describes the hardware design of the iCub humanoid robot. The iCub is an open-source humanoid robotic platform designed explicitly to support research in embodied cognition. This paper covers the mechanical and electronic design of the first release of the robot. A series upgrades developed for the second version of the robot (iCub2), which are aimed at the improvement of the mechanical and sensing performance, are also described.

Kinematic and Dynamic Simulations for the Design of iCub Upper-Body Structure

2008 ◽  
Author(s):  
Nestor E. Nava R. ◽  
Giorgio Metta ◽  
Giulio Sandini ◽  
Vadim Tikhanoff
Keyword(s):  
Open Source ◽  
Humanoid Robot ◽  
Upper Body ◽  
Original Research ◽  
Body Structure ◽  
Dynamic Simulations ◽  
Dynamic Conditions ◽  
Joint Structure ◽  
Workspace Analysis ◽  
Funded Project

In this paper we present kinematic and dynamic simulations of the humanoid robot iCub in operation. ICub is the result of RobotCub, an EU-funded project, which aims at developing an open-source humanoid platform by following an original research line in synthetic cognition. Workspace analysis and singular positions have been computed for the structure of the upper-body sub-systems. Simulations validated the manipulation performance of iCub under dynamic conditions. Actuating torques have been computed on the joint structure. The analysis of the results may suggest that further design improvements are possible for iCub.

scholarly journals Real-Time Search-based Planning in Structure Environments

2020 ◽  
Author(s):  
Than Le
Keyword(s):  
Motion Planning ◽  
Open Source ◽  
Real Time ◽  
Open Source Software ◽  
Humanoid Robot ◽  
Operation System ◽  
Computing Architecture ◽  
Planning Problems ◽  
The Way

<div>In this paper, we address the data sending and visualization in search-based planning using the open source software based on motion planning problems. First, we explore the computing architecture of software where we can communicate with other devices or sensors. It also is to understand the finding path problem by using the A-Start algorithm. By the way, it is</div><div>integrated to ROS (Robot Operation System) and implemented</div><div>in Nao Humanoid Robot based on solving the optimize the</div><div>trajectories.</div>

Design of a low-cost, open-source, humanoid robot companion for large retail spaces

2016 ◽  
Author(s):  
Tony Lin ◽  
Matthew Baron ◽  
Bradley Hallier ◽  
Michael Raiti ◽  
Sarah Olivero ◽  
...  
Keyword(s):  
Open Source ◽  
Humanoid Robot ◽  
Low Cost

scholarly journals NimbRo-OP2X: Adult-Sized Open-Source 3D Printed Humanoid Robot

2018 ◽  
Author(s):  
Grzegorz Ficht ◽  
Hafez Farazi ◽  
Andre Brandenburger ◽  
Diego Rodriguez ◽  
Dmytro Pavlichenko ◽  
...  
Keyword(s):  
Open Source ◽  
Humanoid Robot ◽  
3D Printed

scholarly journals A generic synchronous dataflow architecture to rapidly prototype and deploy robot controllers

2020 ◽  
Vol 17 (2) ◽  
pp. 172988142092162
Author(s):  
Diego Ferigo ◽  
Silvio Traversaro ◽  
Francesco Romano ◽  
Daniele Pucci
Keyword(s):  
Software Architecture ◽  
Open Source ◽  
Design Methodology ◽  
Humanoid Robot ◽  
Synchronous Dataflow ◽  
Model Based ◽  
Design Methodologies ◽  
Dataflow Architecture ◽  
The Common

The article presents a software architecture to optimize the process of prototyping and deploying robot controllers that are synthesized using model-based design methodologies. The architecture is composed of a framework and a pipeline. Therefore, the contribution of the article is twofold. First, we introduce an open-source actor-oriented framework that abstracts the common robotic uses of middlewares, optimizers, and simulators. Using this framework, we then present a pipeline that implements the model-based design methodology. The components of the proposed framework are generic, and they can be interfaced with any tool supporting model-based design. We demonstrate the effectiveness of the approach describing the application of the resulting synchronous dataflow architecture to the design of a balancing controller for the YARP-based humanoid robot iCub. This example exploits the interfacing with Simulink® and Simulink® Coder™.

scholarly journals Real-Time Search-based Planning in Structure Environments

2020 ◽  
Author(s):  
Than Le
Keyword(s):  
Motion Planning ◽  
Open Source ◽  
Real Time ◽  
Open Source Software ◽  
Humanoid Robot ◽  
Operation System ◽  
Computing Architecture ◽  
Planning Problems ◽  
The Way

<div>In this paper, we address the data sending and visualization in search-based planning using the open source software based on motion planning problems. First, we explore the computing architecture of software where we can communicate with other devices or sensors. It also is to understand the finding path problem by using the A-Start algorithm. By the way, it is</div><div>integrated to ROS (Robot Operation System) and implemented</div><div>in Nao Humanoid Robot based on solving the optimize the</div><div>trajectories.</div>

scholarly journals Surface Electromyographic Control of a Humanoid Robot

2013 ◽  
Author(s):  
Alex W. Grammar ◽  
Robert L. Williams
Keyword(s):  
Open Source ◽  
Elbow Joint ◽  
Humanoid Robot ◽  
Joint Angle ◽  
Biceps Brachii ◽  
Source Surface ◽  
Electromyographic Activity ◽  
Angle Measuring ◽  
Human Arm ◽  
The Relationship

This paper details the development of an open-source surface electromyographic interface for controlling 1-DOF for the DARwIn-OP humanoid robot. This work also details the analysis of the relationship between surface electromyographic activity of the Biceps Brachii muscle and the angle of the elbow joint for the pseudo-static unloaded arm case. The human arm was mechanically modeled for a two link system actuated by a single muscle. The SEMG activity was found to be directly proportional to joint angle using a combination of custom joint angle measuring hardware and a surface electromyographic measuring circuit. This relationship allowed for straightforward control of the robot elbow joint directly. The interface was designed around the Arduino Microcontroller; another open-source platform. Software for the Arduino and DARwIn-OP were drawn from open source resources, allowing the entire system to be comprised of open-source components. A final surface electromyographic measuring and signal conditioning circuit was constructed. Data recording and processing software was also coded for the Arduino, thus achieving control of the robotic platform via surface electromyography.

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