How to start programming the iCub, and why - Ugo Pattacini
The tutorial will present a general overview of the hardware and software tools developers can exploit in their studies in artificial embodied cognition with the iCub. The iCub is one of the most advanced humanoid platforms and is available as a fully open system in many European laboratories researching in robotics, such as the SPECS here in Barcelona. The iCub body is equipped with 53 degrees of freedom, stereo cameras, gyroscope, force sensors, artificial skin and its hands have been designed to enable dexterous manipulation. Moreover, the audience will be guided through the basics of software development using the YARP middleware, providing simple code examples that range from vision processing to motor control fundamentals. Finally, a quick tour into the project repository will reveal the increasing number of open applications made accessible by groups working with iCub and sharing a common set of experimental facilities; this way, researchers might benefit from the existing software to address specific problems with well-established frameworks, to then concentrate more on their current goals.
Please note that C++ will be used throughout the tutorial, hence a basic (but not advanced) understanding of the language is required.