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human spine have also been developed [14, 15]. Although the latest approach is veryUNCOR
attractive, its implementation suffers from high complexity and control difficulties
as it involves a large number of actuators and sensors. In designing the iCub
waist we considered performance criteria such as workspace capacity and motion
flexibility. Taking into consideration also the open nature and the compact size
of the iCub platform, it was evident that compactness, easy of maintenance and
robustness were also critical issues.
Simulation analysis was performed to identify the number of d.o.f. required for
the iCub crawling locomotion. This showed that for effective crawling a 2-d.o.f.
waist/torso is adequate. However, as there is a strong belief that manipulation plays
a fundamental role in the development of cognitive capabilities a 3-d.o.f. waist was
incorporated to the iCub body in order to enhance the manipulation space of the
robot. A 3-d.o.f. waist provides increased range and flexibility of motion for the
upper body when compared to 1- or 2-d.o.f. waist joints commonly found in other TED PROOF
humanoids, and it results in an amplified workspace for the iCub when performing
manipulation tasks using its hands while in a sitting position.
The neck has a total of 3 d.o.f., and provides full and flexible head motions with a
final series of 3 d.o.f. offering viewing and tracking motions in the eyes. This gives
the iCub a total of 53 d.o.f. in a package that must be both light (approximately
23 kg) and compact (approximately 90 cm tall).
For the realization of the kinematic structure of the iCub a number of unique
features not found in other biped robots were considered and implemented. These
are:
(i) For the implementation of the hip joint of the iCub and particularly for the
hip flexion/extension and abduction/adduction motions, a cable differential
mechanism was selected to provide increased stiffness on the hip joint.
(ii) Two of 3 d.o.f. in the iCub’s waist (pitch, yaw) are also implemented using
a cable differential mechanism. As a result, the increased flexibility of the
upper body and the ensuing larger working space of arms are combined with the
inherent stiffness of the differential mechanism also adopted for this joint [20].
Since the iCub is a human-like robot and will perform tasks similar to those
performed by a human, the range of motion of a ‘standard’ human baby was used as
a starting point for the selection of the movable range of each joint. Table 1 shows 摘要 — 机器人认知的发展以及对人类认知的理解就目前而言，分别形成了两个在机器人技术和神经科学领域所面临的极大挑战。儿童机器人项目旨在开发一种体现机器人的孩子（iCub）与实体（高度90厘米，质量小于23千克），一个2.5岁孩子的最终认知能力。该儿童机器人将是一个可自由查看的开放系统，可供科学家在所有来自发展心理学的同类学科中，通过对渐成的机器人认知发展的研究，从而提高对认知系统的理解。该iCub以后不仅在网络开放，更重要的是在硬件和机械设计的各个方面都将开放。在本文中对iCub形成的基本“体”的机制和结构的设计进行了描述。该论文考虑到运动学结构动态设计标准，执行器的规格和选择，并有详细的机械和电子设计。本文得出结论包括样品组合性能的测试，及符合设计要求和仿真项目的结果比较。论文网
关键词:类人生物；认知；机械设计；力传感。
1. 引言
类似人类的机器的发展在古代神话中它结合了许多很好的特性，包括自然人类类似的运动，以及人性化的设计和行为的基础。然而，在仅仅是过去的30-40年中，核心应用技术的发展（双足行走控制，机电一体化，计算机技术）和进步，在互补的领域，如生物力学和神经科学的多自由度的人形机器人已经成为可行性的技术。该技术的重要优势在于已显示出由开创性的机器人如H6，H7[1]，P[2，3]，阿西莫[4]，JOHNNIE和LOLA[5,6]，WABIAN-2[7]，LUCY[8]，HRP和HRP-2[9，10]，齿轮[11，12]，气动双足动物[13]中，柔性脊柱KENTA和KENJI[14，15]，SAIKA [16]和PINO[17]。随着这些发展机器人的技术，计算和神经科学的认识已经有了能力的提高从而去建立一个人形机器人平台，这将提高机器人智能化，编程和学习。然而，尽管这种进步在人形的技术仍存在对机器智能的认知需要机器人的认识显著差距，在人脑的功能神经科学的理解以及它如何能够创见一个认知能力的存在的存在同样存在意义深远差距。该RobotCub项目是一个研究项目，致力于实现体现认知系统和创建一个用于神经科学的研究的先进的机器人平台。其目标是：