The design of the iCub humanoid robot

Alberto Parmiggiani*, Marco Maggiali, Lorenzo Natale, Francesco Nori, Alexander Schmitz, Nikos Tsagarakis, José Santos Victor, Francesco Becchi, Giulio Sandini, Giorgio Metta

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

78 Citations (Scopus)


This article describes the hardware design of the iCub humanoid robot. The iCub is an open-source humanoid robotic platform designed explicitly to support research in embodied cognition. This paper covers the mechanical and electronic design of the first release of the robot. A series upgrades developed for the second version of the robot (iCub2), which are aimed at the improvement of the mechanical and sensing performance, are also described.

Original languageEnglish
Article number1250027
JournalInternational Journal of Humanoid Robotics
Issue number4
Publication statusPublished - 2012 Dec
Externally publishedYes


  • Humanoid robotics
  • cognitive system
  • open source

ASJC Scopus subject areas

  • Mechanical Engineering
  • Artificial Intelligence


Dive into the research topics of 'The design of the iCub humanoid robot'. Together they form a unique fingerprint.

Cite this