Journal Title
Title of Journal:
|
|
|
Publisher
Springer, Berlin, Heidelberg
|
|
|
|
|
|
Authors: Giulio Sandini Giorgio Metta David Vernon
Publish Date: 2007
Volume: , Issue: , Pages: 358-369
Abstract
This paper describes a multidisciplinary initiative to promote collaborative research in enactive artificial cognitive systems by developing the iCub a opensystems 53 degreeoffreedom cognitive humanoid robot At 94 cm tall the iCub is the same size as a three yearold child It will be able to crawl on all fours and sit up its hands will allow dexterous manipulation and its head and eyes are fully articulated It has visual vestibular auditory and haptic sensory capabilities As an open system the design and documentation of all hardware and software is licensed under the Free Software Foundation GNU licences so that the system can be freely replicated and customized We begin this paper by outlining the enactive approach to cognition drawing out the implications for phylogenetic configuration the necessity for ontogenetic development and the importance of humanoid embodiment This is followed by a short discussion of our motivation for adopting an opensystems approach We proceed to describe the iCub’s mechanical and electronic specifications its software architecture its cognitive architecture We conclude by discussing the iCub phylogeny ie the robot’s intended innate abilities and an scenario for ontogenesis based on human neonatal development
Keywords:
.
|
Other Papers In This Journal:
|