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

[+] Author Affiliations
Nestor E. Nava R., Giorgio Metta, Giulio Sandini

Italian Institute of Technology, Genova, Italy

Vadim Tikhanoff

University of Plymouth, Plymouth, UK

Paper No. ESDA2008-59082, pp. 413-421; 9 pages
  • ASME 2008 9th Biennial Conference on Engineering Systems Design and Analysis
  • Volume 4: Fatigue and Fracture; Fluids Engineering; Heat Transfer; Mechatronics; Micro and Nano Technology; Optical Engineering; Robotics; Systems Engineering; Industrial Applications
  • Haifa, Israel, July 7–9, 2008
  • Conference Sponsors: International
  • ISBN: 978-0-7918-4838-8 | eISBN: 0-7918-3827-7
  • Copyright © 2008 by ASME


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.

Copyright © 2008 by ASME



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