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Image The iCub robot

The iCub robot

The iCub is a humanoid robot designed to support research in embodied AI. At 104 cm tall, the iCub has the size of a five year old child. It can crawl on all fours, walk and sit up to manipulate objects. Its hands have been designed to support sophisticate manipulation skills. The iCub is distributed as Open Source following the GPL licenses. The entire design is available for download from the project’s repositories (http://www.iCub.org). Four robots are available in the iCub Facility at the Istituto Italiano di Tecnologia. The iCub is one of the few platforms in the world with a sensitive full-body skin to deal with the physical interaction with the environment including possibly people.

Key features:
  • Weight: 25kg – 29kg with battery
  • Degrees of freedom: 53
  • Sensors: cameras (2), microphones (2), joint encoders (76), inertial sensors (linear, angular, compass), capacitive tactile sensors (4000), 6-axis force/torque sensors (6)
  • Height: 104cm
  • Middleware: YARP, ROS
Possible applications:
  • Artificial Intelligence
  • Human-Robot Interaction
  • Vision – including stereoscopic vision, object recognition, visuo-tactile
  • Study walking/whole-body control
  • Manipulation – 9 degree of freedom hands

Access information

Corresponding infrastructureInstituto Italiano di Tecnologia
iCub Facility
LocationVia Morego, 30, 16163 Genova GE, Italy
Unit of accessWorking day

Technical specifications

Skin sensors:Capacitive, ~4000 sensing points
Max force at the hand:ca. 1kg
Cameras:640x480 RGB @30fps
Weight:29kg (with battery)
Power supply:48V/onboard battery
Interface:EthernetEthernet
DoF:53
Legs:6 DoF
Arms:7 DoF
Hands:9 DoF
Head:7 DoF
Torso:3 DoF