iCub - First Steps of the IIT Compliant Humanoid Robot: Preliminary Dynamic Walking Experiments скачать в хорошем качестве

iCub - First Steps of the IIT Compliant Humanoid Robot: Preliminary Dynamic Walking Experiments

In order to explore compliant humanoid characteristics, we developed a passive compliant bipedal robot. The robot has a total 17 of DOF (degrees of freedom); 6 active and 1 passive (toe joint) DOF in each leg, and 3 active DOF at the waist to be able to obtain greater motion flexibility. Each joint incorporates three position sensors (2 absolute and 1 relative) and one torque sensor. The robot is also equipped with 6-axis Force/Torque sensors at the ankles and five 1-axis load cells on the foot sole. In addition, cCub has a 3-axis rate gyro sensor and a 3-axis accelerometer, located at the pelvis. In its electronic hardware structure, the main controller is an Intel Core 2 Duo 1.5 GHz dual processor with 3.0 GB RAM, running on a 32-bit GNU/Linux operating system that is based on a real time Xenomai extension. Data communication is performed via real-time Ethernet protocol called RTnet. These are the preliminary dynamic walking experiments conducted on the compliant humanoid. Walking patterns are generated using ZMP criterion and computed in real-time.