HomeRobotic Database - Robotic platform | TERRINet

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

Technical specifications

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

Access information

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


Coronavirus pandemic

Dear TERRINet applicants and future users,

we sincerely hope that you are staying safe in these challenging times that we are facing at the moment. The current emergency due to the COVID-19 pandemic has deeply changed our lives. The recent and progressive lock-down forced us to reorganize our working routines in smart working modalities and to shut down the TERRINet infrastructures. Therefore, we regret to inform you that Trans-National Access has been suspended until further notice.

However, we would like to reassure you that we will keep evaluating the proposals submitted for Trans-National Access regularly. Indeed, despite access cannot be allowed for a while, the selected users will be queued and access will take over gradually as soon as the situation will allow it. We also inform you that a special application mechanism has been settled in TERRINet to mitigate the delays that will occur due to the COVID-19.

The Open Call no. 4 is currently open: we are accepting proposals under the new mechanism called "first come, first served". Proposals are directly forwarded to the evaluation panel as soon as they are submitted. Proposals submitted closer to the deadline will be dispatched after that. The deadline for the Open Call n.4 will be on May 31, 2020.

Do not hesitate! Get this unique opportunity to be granted with fully-covered access (including travel and accommodation costs) to 15 leading European robotics labs and 100+ best robotic platforms and to get in touch with leading robotic experts. 

For any additional questions, please, contact us at info@terrinet.eu

 Let's take this time of the world calming down to plan our future. 

Stay safe.  

TERRINet team