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.