Difference between revisions of "ICub"
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| + | == General Specifications == | ||
| + | |||
| + | The number of degrees of freedom is as follows: | ||
| + | |||
| + | {| class="wikitable" | ||
| + | ! Component !! # of degrees of freedom !! Notes | ||
| + | |- | ||
| + | | Eyes || 3 || Independent vergence and common tilt | ||
| + | |- | ||
| + | | Head || 3 || The neck has three degrees of freedom to tilt, swing, and pan | ||
| + | |- | ||
| + | | Chest || 3 || The torso can also tilt, swing, and pan | ||
| + | |- | ||
| + | | Arms || 7 (each) || The shoulder has 3 DoF, 1 in the elbow, and three in the wrist | ||
| + | |- | ||
| + | | Hands || 9 || The hand has 19 joints coupled in various combinations: the thumb, index, and middle finger are independent (coupled distal phalanxes), the ring and little finger are coupled. The thumb can additionally rotate over the palm. | ||
| + | |- | ||
| + | | Legs || 6 (each) || 6 DoF are sufficient to walk. | ||
| + | |} | ||
== References == | == References == | ||
Revision as of 19:24, 26 May 2024
The iCub is a research-grade humanoid robot for developing and testing embodied AI algorithms. The iCub Project integrates results from various Instituto Italiano Research Units. The iCub Project is a key initiative for IIT, aiming to transfer robotics technologies to industrial applications.
| iCub | |
|---|---|
| Name | iCub |
| Organization | Instituto Italiano |
| Video | Video |
| Cost | Approximately €250,000 |
| Height | 104 cm (3 ft 5 in) |
| Weight | 22 kg (48.5 lbs) |
General Specifications
The number of degrees of freedom is as follows:
| Component | # of degrees of freedom | Notes |
|---|---|---|
| Eyes | 3 | Independent vergence and common tilt |
| Head | 3 | The neck has three degrees of freedom to tilt, swing, and pan |
| Chest | 3 | The torso can also tilt, swing, and pan |
| Arms | 7 (each) | The shoulder has 3 DoF, 1 in the elbow, and three in the wrist |
| Hands | 9 | The hand has 19 joints coupled in various combinations: the thumb, index, and middle finger are independent (coupled distal phalanxes), the ring and little finger are coupled. The thumb can additionally rotate over the palm. |
| Legs | 6 (each) | 6 DoF are sufficient to walk. |
