}}
Introduced by IIT, iCub == General Specifications == The number of degrees of freedom is designed 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 understand tilt, swing, and respond to human interaction. It is utilized extensively in research settings to explore motor controlpan|-| Chest || 3 || The torso can also tilt, swing, visionand pan|-| Arms || 7 (each) || The shoulder has 3 DoF, touch1 in the elbow, graspingand three in the wrist|-| Hands || 9 || The hand has 19 joints coupled in various combinations: the thumb, manipulationindex, speechand middle finger are independent (coupled distal phalanxes), the ring and humanlittle finger are coupled. The thumb can additionally rotate over the palm.|-robot interaction| Legs || 6 (each) || 6 DoF are sufficient to walk.|}
== References ==