Difference between revisions of "Deliverable 7.1"

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[[Image:sit.jpg|right|128px]]
 
[[Image:sit.jpg|right|128px]]
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== Up to date documentation ==
 +
It has been decided more recently that the documentation of the robot will be hosted in the main RobotCub CVS server which is available for browsing by '''[http://www.robotcub.org/cvsweb/cvsweb.cgi/iCubPlatform/ clicking here]'''.
  
 
== Foreword ==
 
== Foreword ==
 
The iCub is the humanoid baby-robot designed by the RobotCub consortium. The
 
The iCub is the humanoid baby-robot designed by the RobotCub consortium. The
iCub will be a full humanoid robot sized as a two year-old child. The total height is
+
iCub will be a full humanoid robot sized as a three year-old child. The total height is
estimated to be around 90cm. It will have 53 degrees of freedom (dof), including
+
estimated to be around 105cm. It will have 53 degrees of freedom (dof), including
articulated hands to be used for manipulation and gesturing and a weight of roughly 23 kg.
+
articulated hands to be used for manipulation and gesturing and a weight of roughly 20 kg.
  
 
Our goal is to produce an integrated design, of an open platform, apt to support various behaviours, and of the most general use possible. Complementary to this requirement, it has to be noted that the RobotCub project is very much about manipulation, and for this reason the robot
 
Our goal is to produce an integrated design, of an open platform, apt to support various behaviours, and of the most general use possible. Complementary to this requirement, it has to be noted that the RobotCub project is very much about manipulation, and for this reason the robot
platform should incorporate this additional requirement by providing sophisticated hands, a lexible oculomotor system, and a reasonable bi-manual workspace. Finally,on top of this, we need to support, global body movements such as crawling, sitting, etc
+
platform will incorporate this additional requirement by providing sophisticated hands, a flexible oculomotor system, and a reasonable bi-manual workspace. Finally, on top of this, we need to support, global body movements such as crawling, sitting, etc.
  
A study is being conducted for determining if and how many degrees of freedom are minimally required to produce/generate plausible facial expressions. Facial expression, although not a basic feature of the iCub will be integrated as a step two phase.  
+
A study is being conducted for determining if and how many degrees of freedom are minimally required to produce/generate plausible facial expressions. Facial expression, although not a basic feature of the iCub will be integrated as an optional hardware plug-in.  
  
 
The robot should be able to crawl and sit (to free the hands from supporting the body) and autonomously move from crawling to sitting and vice-versa.
 
The robot should be able to crawl and sit (to free the hands from supporting the body) and autonomously move from crawling to sitting and vice-versa.
  
In this deliverable the specifications of the hardware, electronics
+
In this deliverable the specifications of the hardware, electronics platform of the iCub are reported. iCub and relative subgroups performances and results obtained are reported and continuosly upgraded based on the debugging and tests. It has been decided more recently that the documentation of the robot will be hosted in the main RobotCub CVS server which is available for browsing by [http://www.robotcub.org/cvsweb/cvsweb.cgi/iCubPlatform/ clicking here].
platform of the iCub are reported.
 
iCub and relative subgroups performances and results obtained are reported and continuosly upgraded based on the debug and test done.
 
  
 
Pointers to relevant documentation as well as assembly or tuning procedure are also reported.
 
Pointers to relevant documentation as well as assembly or tuning procedure are also reported.
 
For details on the software architecture please see the deliverable item 8.3.  
 
For details on the software architecture please see the deliverable item 8.3.  
  
NOTE:  This is a running document which is updated regularly as the design of the platform progresses.  
+
'''NOTE''':  This is a running document which is updated regularly as the design of the platform progresses.
 
 
  
 
== The iCub specifications ==
 
== The iCub specifications ==
Line 31: Line 31:
 
Specifications of the electronics (preliminary, before realization):
 
Specifications of the electronics (preliminary, before realization):
 
[[Media:Electronics.pdf | click here to download the pdf]]
 
[[Media:Electronics.pdf | click here to download the pdf]]
 
New documentation of the electronics including wiring diagrams is being created at the section:
 
[[RobotCub#Wiring_up_the_robot | wiring the robot]]
 
  
 
See additional details
 
See additional details
 
[[Deliverable_7.1#Platform_realization_preliminary_results_and_data | below]]
 
[[Deliverable_7.1#Platform_realization_preliminary_results_and_data | below]]
  
== Platform realization status ==
+
New documentation of the electronics including wiring diagrams is being created an will be available on the [http://www.robotcub.org/cvsweb/cvsweb.cgi/iCubPlatform/ iCubPlatform CVS module].
  
Actually several copies of the iCub are being realized and tested over europe.
+
Latest addendum to Deliverable 8.1 (iCub specifications) is available on [[Deliverable_8.1 | Deliverable 8.1]].
A short overview of the present status of each platform is briefly reported.
 
  
* iCub main site, LIRA-Lab and Telerobot, Genoa (IT):
+
== Platform realization status (October 2007) ==
** the left part of the ubber body is being tested while the right part is being realized to complete the setup;
 
** the head of the iCub was realized and optimized and it is ready to be replicated in three copies;
 
** the lower body will be soon replicated and will be completed before the summer of 2007.
 
* Salfor University (UK):
 
** a first version of the lower body is ready and currently under test.
 
* IST, Lisbon:
 
** several versions of the head were realized including facial features.
 
* EPFL, Switzerland:
 
** another copy of the head is completed and under test.
 
* SSSA, Pontedera (IT):
 
** an indipendent version of hand is being realized and tested in parallel to the one already integrated in the LIRA-Lab+Telerobot design.
 
  
== Platform realization preliminary results and data ==
+
'''Prototype'''
 +
Status: fully built, under debugging
  
As a first indication a benchmark between the intially estimated body mass distribution and the actual body mass obtained from the final CAD is reported in the following table.
+
Electronics:
 +
* finalization of the pc104 card software
 +
* hand sensor reading
 +
* force torque sensor AD card.
  
This will soon be updated with prototype data as soon as integration is done.
+
Mechanics:
 +
* minor debugging activities
 +
* designing cover and heat sinks
  
[[Image:weighttable.jpg|350px]]
+
Software:
 +
* low-level code and calibration under debugging
 +
* higher level under development
 +
* infrastructure mainly stable (only debugging activities)
  
More details on the results obtained from the platform realization can be found in:
+
'''Copies (intra consortium)'''
 +
Status: head built in several copies, upper body under duplication, legs under duplication
  
'''HEAD'''
+
'''Open Call'''
 +
Status: mechanical fabrication started, commercial parts mostly ordered or in the process of being purchased
  
Details of the head:
+
'''Extra consortium'''
[[Media:Head.pdf | click here to download the pdf]]
+
Status: one copy of the legs and waist under fabrication
  
Tests have been performed, some results (VERY preliminary):
+
[[Image:head.jpg|right|160px]]
* Microphones [[Media:Microphones.pdf | click here for the pdf]]
+
[[Image:Icub2007.jpg|right|180px]]
* Test of the head, this caused a replacement of some components (gearbox) [[Media:TestHead.pdf | click here for the pdf]]
 
* Test of the Hall-effect sensors [[Media:Hall.pdf | click here for the pdf]]
 
  
'''HAND (SSSA version)'''
+
== Platform realization preliminary results and data ==
 
+
The iCub information about realization and assembly instructions is available from the '''manuals''' folder in the CVS repository. Please see:
A document with the specifications and details of the SSSA hand design:
+
[http://www.robotcub.org/cvsweb/cvsweb.cgi/iCubPlatform/doc/manuals/ iCub manuals]
[[Media:Hand.pdf | click here to download the pdf]]
 
  
 
== Realization and assembly issues ==
 
== Realization and assembly issues ==
Here we will document the procedures for the assembly of the iCub. These documents will also help troubleshooting in case of failures.
+
The documentation of the assembly and wiring of the robot has been moved completely on the CVS module iCubPlatform on the RobotCub CVS server (see above).
  
 
== The CAD drawings repository ==
 
== The CAD drawings repository ==
CAD files are in the ProEngineering Wildfire 2 standard. They will be made available here. A temporary set of "almost" final drawings is available from the RobotCub website. These files are temporarily password protected since they are not yet final (e.g. the robot is still under serious debugging). To request an account and password please send an email to giorgio.metta _(at)_ robotcub.org.
+
CAD files are in the ProEngineering Wildfire 2 standard. They will be made available on CVS. Please discard any temporary version that you might have received. The up-to-date material is available from the RobotCub CVS server. Please see above.
 
+
* '''Disclaimer''': the robot is still under serious debugging. Be aware of this when reading and using these files. Please send bug reports to [mailto:giorgio.metta_at_robotcub.org Giorgio Metta].
Once you receive the email and password you can browse the private part of the RobotCub.org website, see:
 
 
 
[http://www.robotcub.org/index.php/robotcub/private/hardware_platform/cad_files_release the CAD files release]
 
 
 
where you can find (ZIPped) three types of documents:
 
* 3D CAD files in the ProEngineering Wildfire 2 format, these are useful for debugging and for understanding of the robot functionalities
 
* 2D dxf drawings, these files are typically used by manufacturers (machine shops) to build parts
 
* BOM, this consists typically in a two text files with a list of parts; one of them contains the list of the commercial parts
 
 
 
The electronics CAD files (e.g. Orcad, Gerber) are available from the RobotCub website together with the bill of materials:
 
 
 
[http://www.robotcub.org/index.php/robotcub/private/hardware_platform/cad_files_release the CAD files release]
 
 
 
What is available:
 
* Head CAD, BOM and 2D drawings: almost final
 
* General integration: CAD only
 
* Lowerbody CAD+2D
 
* Electronics: DC and BL control cards
 
 
 
== The additional documents repository ==
 
Certain files cannot be archived as CAD files and require a separate repository (e.g. large binary files). The instructions to get will appear here.
 
  
== Bill of material ==
+
Files are available in three types of documents:
A database with the list of parts and details on each of them will be made available. For now be content with a set of text files describing parts and listing the commercially available ones.
+
* 3D CAD files in the ProEngineering Wildfire 2 format, these are useful for debugging and for understanding of the robot structure
 +
* 2D dxf drawings, these files are typically used by manufacturers (machine shops) to build mechanical parts
 +
* BOM, this consists typically of a list of parts, sometimes divided between commercial parts (off-the-shelf) and machined parts (that require manifacturing)
  
This is temporarily available from:
+
The electronics CAD files (e.g. Orcad, Gerber) are also available from the RobotCub CVS together with the relative bill of materials. What is available:
 +
* Head CAD, BOM and 2D drawings: final
 +
* Upperbody: final, missing left hand
 +
* General integration: final
 +
* Lowerbody CAD+2D: final, missing foot and calf
 +
* Electronics: DC and BL control cards, missing pc104 interface card and force/torque sensor interface
  
[http://www.robotcub.org/index.php/robotcub/private/hardware_platform/cad_files_release the CAD files release]
+
== Bill of materials ==
 +
A database with the list of parts and details on each of them will be made available. This is in part already available from the CVS repository.
  
 
== Moreover ==
 
== Moreover ==
 
Documents that don't fall in any of the previous categories.
 
Documents that don't fall in any of the previous categories.

Latest revision as of 03:52, 14 October 2008

Sit.jpg

Up to date documentation

It has been decided more recently that the documentation of the robot will be hosted in the main RobotCub CVS server which is available for browsing by clicking here.

Foreword

The iCub is the humanoid baby-robot designed by the RobotCub consortium. The iCub will be a full humanoid robot sized as a three year-old child. The total height is estimated to be around 105cm. It will have 53 degrees of freedom (dof), including articulated hands to be used for manipulation and gesturing and a weight of roughly 20 kg.

Our goal is to produce an integrated design, of an open platform, apt to support various behaviours, and of the most general use possible. Complementary to this requirement, it has to be noted that the RobotCub project is very much about manipulation, and for this reason the robot platform will incorporate this additional requirement by providing sophisticated hands, a flexible oculomotor system, and a reasonable bi-manual workspace. Finally, on top of this, we need to support, global body movements such as crawling, sitting, etc.

A study is being conducted for determining if and how many degrees of freedom are minimally required to produce/generate plausible facial expressions. Facial expression, although not a basic feature of the iCub will be integrated as an optional hardware plug-in.

The robot should be able to crawl and sit (to free the hands from supporting the body) and autonomously move from crawling to sitting and vice-versa.

In this deliverable the specifications of the hardware, electronics platform of the iCub are reported. iCub and relative subgroups performances and results obtained are reported and continuosly upgraded based on the debugging and tests. It has been decided more recently that the documentation of the robot will be hosted in the main RobotCub CVS server which is available for browsing by clicking here.

Pointers to relevant documentation as well as assembly or tuning procedure are also reported. For details on the software architecture please see the deliverable item 8.3.

NOTE: This is a running document which is updated regularly as the design of the platform progresses.

The iCub specifications

The Deliverable item 8.1 contains the initial specifications and design issues we considered during the development of iCub:

Deliverable 8.1

Specifications of the electronics (preliminary, before realization): click here to download the pdf

See additional details below

New documentation of the electronics including wiring diagrams is being created an will be available on the iCubPlatform CVS module.

Latest addendum to Deliverable 8.1 (iCub specifications) is available on Deliverable 8.1.

Platform realization status (October 2007)

Prototype Status: fully built, under debugging

Electronics:

  • finalization of the pc104 card software
  • hand sensor reading
  • force torque sensor AD card.

Mechanics:

  • minor debugging activities
  • designing cover and heat sinks

Software:

  • low-level code and calibration under debugging
  • higher level under development
  • infrastructure mainly stable (only debugging activities)

Copies (intra consortium) Status: head built in several copies, upper body under duplication, legs under duplication

Open Call Status: mechanical fabrication started, commercial parts mostly ordered or in the process of being purchased

Extra consortium Status: one copy of the legs and waist under fabrication

Head.jpg
Icub2007.jpg

Platform realization preliminary results and data

The iCub information about realization and assembly instructions is available from the manuals folder in the CVS repository. Please see: iCub manuals

Realization and assembly issues

The documentation of the assembly and wiring of the robot has been moved completely on the CVS module iCubPlatform on the RobotCub CVS server (see above).

The CAD drawings repository

CAD files are in the ProEngineering Wildfire 2 standard. They will be made available on CVS. Please discard any temporary version that you might have received. The up-to-date material is available from the RobotCub CVS server. Please see above.

  • Disclaimer: the robot is still under serious debugging. Be aware of this when reading and using these files. Please send bug reports to Giorgio Metta.

Files are available in three types of documents:

  • 3D CAD files in the ProEngineering Wildfire 2 format, these are useful for debugging and for understanding of the robot structure
  • 2D dxf drawings, these files are typically used by manufacturers (machine shops) to build mechanical parts
  • BOM, this consists typically of a list of parts, sometimes divided between commercial parts (off-the-shelf) and machined parts (that require manifacturing)

The electronics CAD files (e.g. Orcad, Gerber) are also available from the RobotCub CVS together with the relative bill of materials. What is available:

  • Head CAD, BOM and 2D drawings: final
  • Upperbody: final, missing left hand
  • General integration: final
  • Lowerbody CAD+2D: final, missing foot and calf
  • Electronics: DC and BL control cards, missing pc104 interface card and force/torque sensor interface

Bill of materials

A database with the list of parts and details on each of them will be made available. This is in part already available from the CVS repository.

Moreover

Documents that don't fall in any of the previous categories.