Deliverable 2.2

Software Implementation of the iCub Cognitive Architecture (version 1.0)

This is the addendum to the Deliverable 2.2 which is the first release of the iCub Cognitive Architecture. An placeholder document has been added to the RobotCub.org website with a pointer to this page. The demonstrations are provided here as videos.

The software implementation is a collection applications comprising YARP modules: each application realizes a given behaviour and runs independently on the iCub. The applications are available from the iCub applications documentation. The modules are described also in the iCub modules documentation.

The final goal is to have an application which instantiates all the modules in the iCub Cognitive Architecture and which realizes the behaviours encapsulated in Empirical Investigations. At that point, the software implementation will be redesignated version 2.0.

Each application is described below, organized by workpackage.

Important note

• Please note that often the browser won't display/embed your videos correctly because of coded and/or other player incompatibilities. In that case, we recommend downloading them to your computer and then playing them from there.

Generic (WP7 & WP8)

the iCub hands

• These are older videos to show the functionality of the robot and they are typical mechanical stress-tests.

• The main Doxygen documentation of the basic control modules is available as the iCub application called demoy3 and can be browsed here

• Videos:
  • icub_yoga.wmv
  • icub_hands.wmv

• Paper:
  • G. Metta, G. Sandini, D. Vernon, L. Natale, F. Nori. The iCub humanoid robot: an open platform for research in embodied cognition. In PerMIS: Performance Metrics for Intelligent Systems Workshop. Aug 19-21, 2008, Washington DC - USA -PDF-

Attention system (WP3)

the attention system

• The main Doxygen documentation of the attention system is available as the iCub application called attention_distributed and can be browsed here

• Video: iCub-attention.wmv

• Paper:
  • Ruesch J., Lopes, M., Hornstein J., Santos-Victor J., Pfeifer, R. Multimodal Saliency-Based Bottom-Up Attention - A Framework for the Humanoid Robot iCub. International Conference on Robotics and Automation, Pasadena, CA, USA, May 19-23, 2008. pp. 962-967. -PDF-

Body schema (WP3 and WP5)

iCub reaching

• The main Doxygen documentation of the body schema is available as the iCub application called lasaBodySchema and can be browsed here

• Videos:
  • bodyschema.avi, this video shows the learning procedure in simulation, or .wmv file.
  • fingerreach.avi or fingerreach.wmv, learning to reach using a different effector (a different finger as the end-point).
  • gazing.avi or gazing.wmv, learning to gaze appropriately (head-eye coordination).
  • reaching.avi or reaching.wmv, learning to reach (whole body).

• Papers:
  • M. Hersch, E. Sauser and A. Billard. Online learning of the body schema. International Journal of Humanoid Robotics, (2008). -PDF-
  • M. Hersch, Adaptive sensorimotor peripersonal space representation and motor learning for a humanoid robot. PhD thesis (2009). link

Crawling (WP3)

the iCub crawling

• The main Doxygen documentation of the crawling controller is available as the iCub application called missing_application and can be browsed [http:// here]

• Videos:
  • crawling.wmv, a few steps with the crawling controller.

• Paper (and more):
  • -Deliverable 3.4-
  • A presentation on the controller structure: presentation.pdf
  • S. Degallier, L. Righetti, L. Natale, F. Nori, G. Metta and A. Ijspeert. A modular bio-inspired architecture for movement generation for the infant-like robot iCub. In Proceedings of the second IEEE RAS / EMBS International Conference on Biomedical Robotics an Biomechatronics (BioRob), 2008. -PDF of submitted paper-

Drumming (WP3)

the iCub drumming

• The main Doxygen documentation of the drumming controller is available as the iCub application called drummingEPFL and can be browsed here

• Videos, various videos of the robot drumming:
  • drumming1.wmv
  • drumming2.wmv
  • drumming3.wmv
  • drumming4.wmv
  • automatica08.wmv

• Paper (and more):
  • -Deliverable 3.4-
  • A presentation on the controller structure: presentation.pdf
  • S. Degallier, L. Righetti, L. Natale, F. Nori, G. Metta and A. Ijspeert. A modular bio-inspired architecture for movement generation for the infant-like robot iCub. In Proceedings of the second IEEE RAS / EMBS International Conference on Biomedical Robotics an Biomechatronics (BioRob), 2008. -PDF of submitted paper-

Cartesian control (WP3)

the Cartesian controller

• The main Doxygen documentation of the cartesian controller is available as the iCub application called armCartesianController and can be browsed here. The implementation includes also the multi-referential approach used for the learning of the body schema (see above).

• Videos, Cartesian controller in action:
  • icub_guicontrolled.avi or icub_guicontroller.wmv, iCub arm receives commands from a GUI developed in MATLAB: the complete pose (position+orientation) is controlled.

• Paper:
  • Not yet!

Affordances (WP4 & WP5)

the iCub running the affordance modules

• The main Doxygen documentation of the affordance experiment is available as the iCub application called missing application and can be browsed here

• Video, an initial video of the affordance experiment on the iCub:
  • affordances.wmv

• Paper (and more):
  • -Deliverable 4.1-
  • Lopes, M., Melo, F., and Montesano, L. Affordance-Based Imitation Learning in Robots. IEEE/RSJ International Conference on Intelligent Robots and Systems, San Diego, USA, October 2007.-PDF of submitted paper-

Interaction histories (WP6)

the Peekaboo game

• The main Doxygen documentation of the interaction histories experiment is available as the iCub application called iha_manual and can be browsed here

• Video:
  • iha.wmv, full video of the experiment.

• Paper (and more):
  • -Deliverable 6.4-
  • Mirza, N. A., Nehaniv, C. L., Dautenhahn, K., AND te Boekhorst, R. 2005. Using sensory-motor phase-plots to characterise robot-environment interactions. In Proc. of 6th IEEE International Symposium on Computational Intelligence in Robotics and Automation. -PDF of submitted paper-