ICub

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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
NameiCub
OrganizationInstituto Italiano
VideoVideo
CostApproximately €250,000
Height104 cm (3 ft 5 in)
Weight22 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.
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)


References

IIT official website on iCub

Presentation of iCub by IIT