Design Issue of a New iCub Head Sub-System Articles uri icon

authors

  • NAVA RODRIGUEZ, NESTOR EDUARDO

publication date

  • April 2010

start page

  • 119

end page

  • 129

issue

  • 2

volume

  • 26

International Standard Serial Number (ISSN)

  • 0736-5845

Electronic International Standard Serial Number (EISSN)

  • 1879-2537

abstract

  • I am presenting a new design for the head sub-system of the humanoid robot iCub. ICub is a humanoid robot platform that has been conceived as a result of the development of the European Project RobotCub. Mechanical problems of the current head sub-system of iCub robot have been studied in order to figure out improvements for a new design. The feasibility of the new design has been checked through dynamic simulations of the head operations. The successful results have shown plots with curve evolutions of smooth shapes and suitable values of important kinematic and dynamic parameters of the head structure.

keywords

  • robotics; humanoid robot; icub; head sub-system; design