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Diego-san

Details

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.

Creator
UC San Diego, Kokoro, and Hanson Robotics
Country
United States πŸ‡ΊπŸ‡Έ
Year
2010
Type
Humanoid, Research
Creator
UC San Diego, Kokoro, and Hanson Robotics
Country
United States πŸ‡ΊπŸ‡Έ
Year
2010
Type
Humanoid, Research

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Specs

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
HISTORY
N/A
WEBSITE
http://mplab.ucsd.edu

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