Skip to main content
SpringerLink
Log in
Book cover

Increasing Perceptual Skills of Robots Through Proximal Force/Torque Sensors pp 85–100Cite as

Hardware and Software Architecture

  • Chapter
  • First Online:

  • 879 Accesses

Part of the book series: Springer Theses ((Springer Theses))

Abstract

The chapter presents an overview of the hardware and software architecture of the iCub robot. In particular, it shows the way the code to perform torque feedback and active compliance control have been implemented. Qualitative peformances of the implemented methodologies are reported by means of a comparison of the virtal sensor method, with mechanical joint torque sensors and additional external FTS. Based on the YARP famework, a set of modules perform the estimation of joint torques, of external forces and of gravity compensation terms have been implemented. The implementation of these YARP modules are finally reported.

This is a preview of subscription content, log in via an institution.

Chapter
USD   29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD   84.99
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD   109.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info
Hardcover Book
USD   109.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Learn about institutional subscriptions

Notes

  1. 1.

    Low level code runs on Freescale DSP56F807 which is built with Freescale CodeWarrior Development Studio, which is a complete integrated Development Environment (IDE) that provides a highly visual and automated framework to accelerate the development of embedded applications [2].

  2. 2.

    Table 6.1 shows only the main hardware components (motors and sensors) which have been used within this work, and the main components of the of the robot perceptive system.

  3. 3.

    The coupling of the motors of the iCub shoulders, shown in Sect. 5.3, is performed on the DSPs.

References

  1. Cannata, G., Maggiali, M., Metta, G., & Sandini, G. (2008). An embedded artificial skin for humanoid robots. in IEEE International Conference on Multisensor Fusion and Integration, Seoul, Korea.

    Google Scholar 

  2. Freescale. (2010). CodeWarrior development tool. http://www.freescale.com/webapp/sps/site/homepage.jsp?code=CW_HOME

  3. Fumagalli, M. (2010). iCub module computing the whole-body dynamics. http://eris.liralab.it/iCub/main/dox/html/group__wholeBodyDynamics.html. GNU GPL v2.0

  4. Fumagalli, M., Ivaldi, S., Randazzo, M., Natale, L., Metta, G., Sandini, G., et al. (2012). Force feedback exploiting tactile and proximal force/torque sensing—Theory and implementation on the humanoid robot iCub. Auton. Robots, 33, 381–398.

    Article  Google Scholar 

  5. Gamma, E., Helm, R., Johnson, R., & Vlissides, J. M. (1994). Design patterns: Elements of reusable object-oriented software (1st ed.). Reading: Addison-Wesley Professional.

    Google Scholar 

  6. Ivaldi, S., Fumagalli, M., & Pattacini, U. (2010). Doxygen documentation of the iDyn library. http://wiki.icub.org/iCub_documentation/idyn_introduction.html

  7. Ivaldi, S., Fumagalli, M., Randazzo, M., Nori, F., Metta, G., & Sandini, G. (2011). Computing robot internal/external wrenches by means of inertial, tactile and F/T sensors: Theory and implementation on the iCub. in 2011 11th IEEE-RAS International Conference on Humanoid Robots (Humanoids), (pp. 521–528).

    Google Scholar 

  8. http://eris.liralab.it. (2010). The iCub user main page. http://eris.liralab.it/wiki/Main_Page

  9. Metta, G., Fitzpatrick, P., & Natale, L. (2006). Yarp: Yet another robot platform. International Journal of Advanced Robotics Systems, special issue on Software Development and Integration in, Robotics, 3.

    Google Scholar 

  10. Natale, L., Nori, F., Metta, G., Fumagalli, M., Ivaldi, S., Pattacini, U., et al. (2012). The iCub platform: A tool for studying intrinsically motivated learning. In G. Baldassarre & M. Mirolli (Eds.) Intrinsically motivated learning in natural and artificial systems. Berlin: Springer-Verlag.

    Google Scholar 

  11. Parmiggiani, A., Randazzo, M., Natale, L., Metta, G., & Sandini, G. (2009). Joint torque sensing for the upper-body of the iCub humanoid robot. In International Conference on Humanoid Robots, Paris, France.

    Google Scholar 

  12. Randazzo, M.,Fumagalli, M., Nori, F., Natale, L., Metta, G., & Sandini, G. (2011). A comparison between joint level torque sensing and proximal F/T sensor torque estimation: Implementation on the iCub. In 2011 IEEE/RSJ International Conference on Humanoid Robots (Humanoids), Intelligent Robots and Systems (IROS) (pp. 4161–4167).

    Google Scholar 

  13. Schmidt, D. C. (2003). The adaptive communication environment. http://www.cs.wustl.edu/ schmidt/ACE.html

  14. Schmidt, D. C., & Huston, D. H. (2002). C++ network programming: Mastering complexity using ACE and patterns. Verlag: Addison-Wesley Longman.

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Robotics and Mechatronics, University of Twente, Building Carre 3.710, Hallenweg 23, 7522, Enschede, The Netherland

    Matteo Fumagalli

Authors
  1. Matteo Fumagalli
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Matteo Fumagalli .

Rights and permissions

Reprints and permissions

Copyright information

© 2014 Springer International Publishing Switzerland

About this chapter

Cite this chapter

Fumagalli, M. (2014). Hardware and Software Architecture. In: Increasing Perceptual Skills of Robots Through Proximal Force/Torque Sensors. Springer Theses. Springer, Cham. https://doi.org/10.1007/978-3-319-01122-6_6

Download citation

  • DOI: https://doi.org/10.1007/978-3-319-01122-6_6

  • Published:

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-01121-9

  • Online ISBN: 978-3-319-01122-6

  • eBook Packages: EngineeringEngineering (R0)

Publish with us

Policies and ethics

Search

Navigation