The design of the lower body of the compliant humanoid robot “cCub”

@article{Tsagarakis2011TheDO,
  title={The design of the lower body of the compliant humanoid robot “cCub”},
  author={Nikolaos G. Tsagarakis and Zhibin Li and Jody Alessandro Saglia and Darwin G. Caldwell},
  journal={2011 IEEE International Conference on Robotics and Automation},
  year={2011},
  pages={2035-2040}
}
The “iCub ”is a robotic platform that was developed by the RobotCub [1] consortium to provide the cognition research community with an open “child-like ”humanoid platform for understanding and development of cognitive systems [1]. In this paper we present the mechanical realization of the lower body developed for the “cCub ”humanoid robot, a derivative of the original “iCub”, which has passive compliance in the major joints of the legs. It is hypothesized that this will give to the robot high… CONTINUE READING
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