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iCub

iCub is a child-size humanoid robot capable of crawling, grasping objects, and interacting with people. It's designed as an open source platform for research in robotics, AI, and cognitive science.

FEATURES

Open architecture. Equipped with an array of sensors for seeing, hearing, and touching. Body anatomy similar to that of a human child.

HEIGHT

104 cm | 40.9 in

LENGTH

N/A cm | N/A in

WIDTH

N/A cm | N/A in

WEIGHT

25 kg | 55.1 lb

SPEED

N/A km/h | N/A mph

SENSORS

Stereo cameras, gyroscopes, accelerometers, microphones, encoders, force-torque sensors, and capacitive tactile sensors (fingertips and upper body skin).

ACTUATORS

54 motors (150-W brushless motors for shoulders and other large joints and DC motors for hands and small joints).

POWER

Tethered, 12-V to 48-V power supply

COMPUTING

On-board systems include an Intel Core 2 Duo (main computer) and 20 microcontroller boards for motors, 16 boards for sensors, and a Pentium computer for data acquisition and synchronization. Off-board systems include a cluster with 30 to 40 cores and GPU processing.

SOFTWARE

Debian Linux on-board OS. Off-board systems include Windows, Linux, and Mac OS, and YARP (Yet Another Robot Platform) as software middleware for external cluster.

DEGREES OF FREEDOM (DOF)

54 (54 powered, 76 total)

MATERIALS

Mostly Ergal aluminum alloy, steel, and plastic.

COST

$300,000

STATUS

Ongoing

WEBSITE

http://www.icub.org