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Diego-san

Diego-san is a humanoid designed to study cognitive development. It's modeled after a 1-year-old baby, except it has a giant head to accommodate all the hardware that powers its expressive face.

FEATURES

Equipped with compliant joints driven by agonistic-antagonistic actuators. Capable of controlling the stiffness of each joint.

HEIGHT

130 cm | 51.2 in

LENGTH

N/A cm | N/A in

WIDTH

70 cm | 27.6 in

WEIGHT

35 kg | 77.2 lb

SPEED

N/A km/h | N/A mph

SENSORS

Two Point Grey Dragonfly2 cameras, two microphones, two inertial measurement units, 38 potentiometers, 88 pressure sensors.

ACTUATORS

44 pneumatic actuators for body joints and 18 electric RC servos for the face.

POWER

Compressed air from external compressor.

COMPUTING

Intel Xeon 2.8 GHz computer with 12 cores. Analog sensors and pneumatic actuators connected to the computer using a National Instruments data acquisition system.

SOFTWARE

Ubuntu Linux OS and ROS (Robot Operating System) for sensor and actuator communication. OpenCV for visual perception; Python/Matlab/C++ for control system.

DEGREES OF FREEDOM (DOF)

62 (18 electric servos for facial expression and 44 independently controlled pneumatic joints: Head and neck: 4 DoF; Trunk: 4 DoF; Arm: 8 DoF x 2; Hand: 3 DoF x 2; Leg: 7 DoF x 2. Each pneumatic joint has 2 degrees of freedom: position and compliance.)

MATERIALS

Aluminum structure, acrylic shell, and rubber face.

COST

N/A

STATUS

Ongoing

WEBSITE

http://mplab.ucsd.edu