Nowadays, the understanding of the human cognition and it application to robotic systems forms a great challenge of research. The iCub is a robotic platform that was developed within the RobotCub European project to provide the cognition research community with an open babyhumanoid platform for understanding and development of cognitive systems.In this paper we present the design requirements and mechanical realization of the lower body developed for the “iCub”. In particular the leg and the waist mechanisms adopted for lower body to match the size and physical abilities of a 2€ year old human baby are introduced.
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