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This paper presents 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, a collaborative European project aiming at developing a new open-source cognitive robotics platform. The iCub simulator has been developed as part of a joint effort with the(More)
Movement generation in humans appears to be processed through a three-layered architecture, where each layer corresponds to a different level of abstraction in the representation of the movement. In this article, we will present an architecture reflecting this organization and based on a modular approach to human movement generation. We will show that our(More)
According to the model of muscle synergies, the central nervous system (CNS) is organised in a modular structure, such that any muscle activation can be produced as a linear superposition of predefined time-varying profiles (i.e. synergies). This organisation might contribute to simplify the control of the musculoskeletal apparatus. Taking inspiration from(More)
The time needed to adapt to a perturbation depends critically on the amount of the available a-priori information: the more we know about the perturbation, the less experience we need to learn how to compensate for it. The drawback of such a model-based approach is the loss of generality, because rigid assumptions do not allow to rapidly adapt to new(More)
This work is about the energy analysis of a humanoid robotic arm, seen as complex energy chain. We developed a simulation platform suitable for modelling the kinematics, dynamics, and energy balances of a real humanoid robotic arm. The model was validated by an accurate comparison with the real robot. Then, we performed a first compared study of the motion(More)
As the basis of generating nonverbal expressions in animated agents, this paper proposes factors that account for cultural difference in nonverbal behaviors in negotiation interaction. First, we introduce theories of negotiation and cultural characteristics. Then, our analysis of human interaction in negotiation conversations in CUBE-G corpus is described.(More)
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