D2.1 Requirements and Specification - CORBYS

D2.1 Requirements and Specification
competing and cooperating distributed multi-functional perceptuo-motor circuits, a modulation circuit which
effects homeostatic action selection by disinhibition of the perceptuo-motor circuits, and a system to effect
anticipation through perception-action simulation.” (Sandini et al., 2007).
Robotic platform (description, actuation and sensing):
The iCub child size humanoid robot with 53 degrees of freedom and it is designed to crawl and sit. His hands
and arms are designed for dexterous manipulation and it also has visual, vestibular, auditory and haptic sensor
capabilities. The sensory system consists of: vision, touch, audio and inertial sensors system.
Figure 32: The layers of iCub architecture (Sandini et al. 2007)
Figure 33: iCub cognitive architecture (Sandini et al. 2007)
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