Performance Assessment of a 3 DOF Differential Based Waist joint for the "iCub" Baby Humanoid Robot

This work discusses the design and control approach of a 3 DOF waist joint for the "iCub" humanoid robot. "iCub" is a child like crawling robot that resembles a 2 and a half year old child. The ultimate goal of this project is to provide the cognition research community with an open human like platform for understanding of cognitive systems through the study of cognitive development. The designs of the mechanisms adopted for the waist joint are discussed. This is accompanied by discussion of the control scheme design and presentation of experimental results showing the performance of the mechanism

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