Markerless Eye-Hand Kinematic Calibration on the iCub Humanoid Robot

The iCub Humanoid Robot Simulator

The authors present the prototype of a new computer simulator for the humanoid robot iCub. The iCub is a new open-source humanoid robot developed as a result of the RobotCub project (robotcub.org), a collaborative European project aiming at developing a new opensource cognitive robotics platform. The iCub simulator has been developed as part of a joint effort with the European project “ITALK” (...

Learning Hand Movement by Markerless Demonstration for Humanoid Robot Task

In this paper, we investigate the problem of generating trajectories from demonstration and instructing the robot to perform similar tasks under new situations. We present an approach that enables robots to extract movement trajectories from Kinect data capture, automatically segment movement into action units, learn the task-specific models and grasp target object under new situations. The mod...

The Design of the iCub humanoid Robot

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 mecha...

Kinematic Mapping and Calibration of the Thumb Motions for Teleoperating a Humanoid Robot Hand

Mapping and calibration from a human hand to a robot hand pose a challenge due to their differences in kinematic structures. This paper uses the CyberGlove as the input device for telemanipulating an object with the thumb and the index finger of the Shadow Dexterous HandTM, with the focus not only on the position but also on the orientation of the thumb fingertip because it is found through exp...

Path Planning with the humanoid robot iCub