ISAC Humanoid Robot
ISAC is a humanoid robot that was designed and built in the IRL as a research platform for service robotics. The humanoid system also provides a test-bed to develop new technologies for human-to-robot and robot-to-human communications, including audio, visual, and gestural methods.
- Human - Humanoid Interaction
- McKibben Artificial Muscles
- Dual arm control
- Pan Tilt Verge Head
- Infrared motion detection
- Sonic localization
- PneuHand (Humanoid Hand)
HardwareThe humanoid system contains
- Two pneumatic 6DOF SoftArms actuated by McKibben artificial muscles.
- An air compressor and compressed air delivery system.
- Two four fingered, anthropomorphic dexterous manipulators, that we call the PneuHands, designed and built by the IRL.
- Two force-torque sensors connected at the arms' wrist joints.
- A Directed Perception pan-tilt platform modified in house for independent verge control of two color cameras.
- Two 200 MHz Dual processor Pentium Pros. One controls grayscale image processing and a multi-channel audio signal processor and the other controls the two SoftArms with two arm controller boards (built in house).
- One 266 MHz Pentium-II which controls hand using in-house controller board.
- Two dual Pentium-III with two color frame grabbers for primary image processing.