Towards a Shared Embodied Intelligence of Humanoid Robots: Optimization, Development, and Testing of the Human-Aware ergoCub Robot

"Towards a Shared Embodied Intelligence of Humanoid Robots: Optimization, Development, and Testing of the Human-Aware ergoCub Robot"

Carlotta Sartore, Mohamed Elobaid, Lorenzo Rapetti, Giulio Romuladi, Stefano Dafarra, Nicola A. Piga, Ines Sorrentino, Paolo Maria Viceconte, Silvio Traversaro, Ugo Pattacini, Luca Fiorio, Francesco Draicchio, Giovanna Tranfo, Lorenzo Natale, Marco Maggiali, DanielePucci

Submitted for consideration to Nature Machine Intelligence

This repository contains the code associated with the paper submitted for consideration to Nature Machine Intelligence. All the collected code depends on publicly available libraries. Below are the links to the main dependencies used:

• adam
• shared controllers

In this repository, we collect the scripts implemented for the results presented in the paper.

First Architecture Instance: Optimal Hardware

This section includes the scripts required to replicate the hardware optimization performed for the ergoCub robot.

Dependencies

• The optimization process depends on adam, which implements the core functionalities.

Contents

• The scripts for hardware optimization.
• The output models from the optimization process, collected in this folder.

Second Architecture Instance: Physical Intelligence

This section includes the scripts required to replicate the human-robot interaction experiments.

Dependencies

• The code relies on the shared controllers library, which implements the main functionalities.

Contents

• The scripts for human-robot interaction experiments.

For further details on usage and implementation, please refer to the respective script documentation within each folder.