Title: Learning with pyCub: A New Simulation and Exercise Framework for Humanoid Robotics Show Chinese title

Title: 使用pyCub：仿人机器人模拟与练习的新框架

Abstract: We present pyCub, an open-source physics-based simulation of the humanoid robot iCub, along with exercises to teach students the basics of humanoid robotics. Compared to existing iCub similators (iCub SIM, iCub Gazebo), which require C++ code and YARP as middleware, pyCub works without YARP and with Python code. The complete robot with all articulations has been simulated, with two cameras in the eyes and the unique sensitive skin of the iCub comprising 4000 receptors on its body surface. The exercises range from basic control of the robot in velocity, joint, and Cartesian space to more complex tasks like gazing, grasping, or reactive control. The whole framework is written and controlled with Python, thus allowing to be used even by people with small or almost no programming practice. The exercises can be scaled to different difficulty levels. We tested the framework in two runs of a course on humanoid robotics. The simulation, exercises, documentation, Docker images, and example videos are publicly available at https://rustlluk.github.io/pyCub. Show Chinese abstract

Abstract: 我们介绍了pyCub，一个基于物理的人形机器人iCub的开源仿真系统，以及一系列用于教授学生人形机器人基础的练习题。与现有的iCub仿真器（iCub SIM、iCub Gazebo）相比，这些仿真器需要C++代码和YARP作为中间件，而pyCub无需YARP且使用Python代码运行。 完整的机器人及其所有关节都被模拟出来，眼睛中有两个摄像头，iCub独有的敏感皮肤包含其身体表面的4000个感受器。 这些练习从机器人在速度、关节和笛卡尔空间的基本控制开始，到更复杂的任务如注视、抓取或反应性控制。 整个框架完全用Python编写和控制，因此即使是几乎没有编程经验的人也可以使用。 这些练习可以根据不同的难度级别进行调整。 我们在两期人形机器人课程中测试了这个框架。 仿真、练习、文档、Docker镜像和示例视频可以在https://rustlluk.github.io/pyCub上公开获取。