HomeRobotic Database - Robotic platform | TERRINet

Equipment at the iCub Facility allows evaluating performance of humanoid robots by measuring accurately their movements (10-camera Vicon system) and forces (via a force platform). In addition, for legged humanoids, we have a motorized gantry system that can follow the robot motion in the testing room while keeping the robot tethered for safety (in case of failure).In addition, we have a ”virtualizer” system that together with a sensorized suit and VR system allows experiments in the field of teleoperation of humanoid robots.For walking teleoperation (or ”in place” robot testing) we also have a standard treadmill which offers the possibility of testing walking humanoids on slopes of different degrees. Treadmill

• Name: Technogym® Jog Forma
• Running deck: 86 x 210 [cm]
• Min Speed: 0.4 [Kmh]
• Max Speed: 18 [Kmh]
• Slope Selection: 0-15%
• Computer API: No

• Name: Cyberith Virtualizer
• Running deck: diam. 100 [cm]
• Speed and direction sensors: 6 light sensors arranged on a circle
• Spin angle: 360 [deg]
• Heave stroke: 58 to 144 [cm]
• Computer API: C# / C++

• Manufacturer: Rexroth
• DoF: 2
• Workspace: ca 450 x 500 [cm]

• Name: Einhell BT EH 250
• Voltage: 220-230 [V]
• Power: 500 [W]
• Max payload: 125 [Kg]
• Max speed: 8 [m/min]

• Name: Vicon
• Workspace: ca 300 x 200 x 200 [cm]
• 6 Optical cameras Bonita B10: 250 fps with one megapixel of resolution
• 1 video camera Bonita 720c: HD at 120 fps
• Computer API: C++ SDK

• Name: Arjohuntleigh Maxi Lite
• Max payload: 160 [Kg]
• Lifting stroke: 135 [cm]