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WE BUILDHUMANOIDS
The iCub humanoid robot, child-sized with a white face and grey arm covers, standing in a robotics lab with its arms held out.
iCub in the iCub Production Lab of the Center for Robotics and Intelligent Systems (CRIS), 14 June 2022.. Photo: Piero Cruciatti - European Commission, CC BY 4.0, via Wikimedia Commons1 / 1
Status: SHIPPING

iCub

Istituto Italiano di Tecnologia (IIT)Compact humanoid robot

iCub is a compact humanoid robot made by Istituto Italiano di Tecnologia (IIT). This record lists what Istituto Italiano di Tecnologia (IIT) publishes about it, each value with its source; anything the manufacturer does not publish is marked "Not published".

EDITORIALOverview reviewed against the cited sources by WBH, .

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Last verified3 sources

DATA · 25 FIELDS

Specifications

  • Official source
  • Community measured
  • Not published
PHYSICAL
Height104 cmOfficial source [2]
WeightNot publishedNot published
Degrees of freedomNot publishedNot published
Walking speedNot publishedNot published
Running speedNot publishedNot published
Ingress protectionNot publishedNot published
Operating temperatureNot publishedNot published
LocomotionNot publishedNot published
JOINTS & ACTUATION
Motors
  • 53 motors (full iCub) · full iCub
Official source [1]
Hand DoF9 degrees of freedom in each hand (five fingers, nine motors, tendon-driven)Official source [1]
Max joint torqueNot publishedNot published
POWER
Batterybattery backpack (v2.5 and later); capacity not publishedOfficial source [1]
RuntimeNot publishedNot published
Charging timeNot publishedNot published
Battery swapNot publishedNot published
COMPUTE & SENSING
Sensorsforce/torque sensing; capacitive skin (about 2000 sensing points); 9-axis IMUs in skin boards and waist IMU (v2.7)Official source [1]
Camerascameras in the head (count not stated on the catalog page)Official source [1]
Internal busCAN-bus microcontroller cards to a PC104 dual-core CPUOfficial source [1]
LiDARNot publishedNot published
ComputeNot publishedNot published
HANDS & PAYLOAD
Arm payloadNot publishedNot published
PayloadNot publishedNot published
End effectorNot publishedNot published
AVAILABILITY & PRICE
Indicative price250,000 Euros (full iCub); 200,000 Euros (upper body); 40,000 Euros (head)Official source [1]
Availabilityobtainable from IIT for a fee (quotation via info@icub.org)Official source [1]

DATA · SOFTWARE & SIMULATION

iCub SDK, URDF and simulation

INTERFACESUPPORTPACKAGE / VERSIONSRC
Robot description (URDF/MJCF)Officialicub-models: URDF and SDF models of iCub (CC BY-SA 4.0), via conda-forge or robotology-superbuild.[3]
GazeboOfficialGazebo models (e.g. iCubGazeboV2_5) in icub-models.[3]
SDKOfficialYARP middleware; the full iCub ships with a laptop running the latest YARP software.[1]
ROS 2Not published
NVIDIA Isaac Sim / Isaac LabNot published
MuJoCoNot published
Programming languagesNot published
TeleoperationNot published

Other humanoid robots with SDK or URDF

IN SHORT

iCub: quick answers

How tall is the IIT iCub?
1.04 m, as IIT publishes it.
Does the IIT iCub have an SDK?
Yes: IIT publishes YARP middleware; the full iCub ships with a laptop running the latest YARP software..

DATA · 6 ROBOTS

Robots similar to the iCub

  • SproutFauna1.07 m · 22.7 kg · 29 DoF
  • Noetix BumiNoetix0.98 m · 17 kg · 21 DoF
  • Booster K1Booster~0.95 m · ~19.5 kg · 22 DoF
  • Galbot ET1Galbot1.25 m · 32 kg with battery · Standard 26; Pro/Flagship 26 + 12 (dexterous hands) DoF
  • 4NE1 MiniNEURA≈1.32 m
  • Booster T2Booster~1.4 m · ~42 kg · 31 DoF

Compare the iCub with the closest three side by side

See also commercially available humanoid robots and compact humanoid robots.

COMMUNITY · 0 THREADS

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