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.

{{infobox robot| name = iCub| organization = [[Instituto Italiano]]| height = 104 cm (3 ft 5 in)| weight = 22 kg (48.5 lbs)| video_link = https://www.youtube.com/watch?v=ErgfgF0uwUo| cost = Approximately €250,000}} <youtube>https://www.youtube.com/watch?v=ErgfgF0uwUo</youtube> == General Specifications == The iCub Project 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.|} == Sensors == {| class="wikitable"! Sensor type !! Number !! Notes|-| Cameras || 2 || Mounted in the eyes (see above), Pointgrey Dragonfly 2 (640x480)|-| Microphones || 2 || SoundMan High quality Stereo Omnidirectional microphone, -46 dB, 10V, 20....20 000 Hz +/- 3dB|-| Inertial sensors || 3+3 || Three axis gyroscopes + three axis accelerometers + three axis geomagnetic sensor based on BOSCH BNO055 chip, mounted in the head. (100Hz)|-| Joint sensors || For each large joint || Absolute magnetic encoder (12bit resolution @1kHz) at the joint, high-resolution incremental encoder at the motor side, hall-effect sensors for commutation (brushless motors only)|-| Joint sensors || For each small joint || Absolute magnetic encoder (except the fingers which use a key initiative custom hall-effect sensor), medium-resolution incremental encoder at the motor|-| Force/torque sensors || 6 || 6x6-axis force/torque sensors are mounted on the upper part of the arm and legs plus 2 additional sensors mounted closer to the ankle for IIThigher precision ZMP estimation (100Hz)|-| Tactile sensors || More than 3000 (*) || Capacitive tactile sensors (8 bit resolution at 40Hz) are installed in the fingertips, palms, upper and fore-arms, aiming chest and optionally at the legs (*).|} {| class="wikitable"|+ Capabilities of iCub! Task !! Description|-| Crawling || Using visual guidance with an optic marker on the floor|-| Solving complex 3D mazes || Demonstrated ability to transfer robotics technologies navigate and solve intricate 3D mazes|-| Archery || Shooting arrows with a bow and learning to hit the center of the target|-| Facial expressions || Capable of expressing emotions through facial expressions|-| Force control || Utilizing proximal force/torque sensors for precise force control|-| Grasping small objects || Able to industrial applicationsgrasp and manipulate small objects such as balls and plastic bottles|-| Collision avoidance || Avoids collisions within non-static environments and can also avoid self-collision|}  == Links == * [https://www.iit.it/research/lines/icub IIT official website on iCub]* [https://www.youtube.com/watch?v=znF1-S9JmzI Presentation of iCub by IIT] [[Category:Robots]][[Category:Humanoid Robots]]