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ICub
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<youtube>https://www.youtube.com/watch?v=ErgfgF0uwUo</youtube>
== General Specifications ==
| Legs || 6 (each) || 6 DoF are sufficient to walk.
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== Sensors ==
{| class="wikitable"
|-
| 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)
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| 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
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| 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)
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| 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
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| Solving complex 3D mazes || Demonstrated ability to navigate and solve intricate 3D mazes
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| Archery || Shooting arrows with a bow and learning to hit the center of the target
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| Facial expressions || Capable of expressing emotions through facial expressions
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| Force control || Utilizing proximal force/torque sensors for precise force control
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| Grasping small objects || Able to grasp and manipulate small objects such as balls and plastic bottles
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| 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]* [https://www.youtube.com/watch?v=znF1-S9JmzI Presentation of iCub by IIT]
[[Category:Robots]]
[[Category:Humanoid Robots]]