}}
<youtube>https://www.youtube.com/watch?v=ErgfgF0uwUo</youtube>
== General Specifications ==
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== References 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 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 higher 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, 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 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 grasp and manipulate small objects such as balls and plastic bottles|-| Collision avoidance || Avoids collisions within non-static environments and can also avoid self-collision|}
[https://www.iit.it/research/lines/icub IIT official website on iCub]== 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]]
[[Category:Instituto Italiano di Tecnologia]]