Deliverable 3.1

This is the addendum to the Deliverable 3.1 which consists of a report proper (available here) and a set of demonstrations. An addendum document on the main website points to this webpage. The demonstrations are provided here as videos.

Important note

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

Attention system (WP3)

• 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)

• 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).

• Paper:
  • 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, EPFL, 2009 PDF

Crawling (WP3)

• 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 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 Interface for controlling iCub limbs in the task space relies on iKin library and has been embedded within YARP as a further motor device driver whose documentation can be found here.

An example application resorting to the Cartesian Interface functionalities is the armCartesianController whose online documentation can be browsed here.

• Videos, Cartesian controller in action:
  • Grasping Sponges, iCub successfully grasps some sponges lying on a table.
  • Arm+Gaze Control, iCub tracks a red ball with the gaze and the hand, exploiting 8 DOF's.

• Paper:
  • Not yet!