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

Research output: Contribution to journalArticle

51 Citations (Scopus)

Abstract

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
Volume9
Issue number4
DOIs
Publication statusPublished - 2012 Dec
Externally publishedYes

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Robots
Robotics
Hardware

Keywords

  • cognitive system
  • Humanoid robotics
  • open source

ASJC Scopus subject areas

  • Artificial Intelligence
  • Mechanical Engineering

Cite this

Parmiggiani, A., Maggiali, M., Natale, L., Nori, F., Schmitz, A., Tsagarakis, N., ... Metta, G. (2012). The design of the iCub humanoid robot. International Journal of Humanoid Robotics, 9(4), [1250027]. https://doi.org/10.1142/S0219843612500272

The design of the iCub humanoid robot. / Parmiggiani, Alberto; Maggiali, Marco; Natale, Lorenzo; Nori, Francesco; Schmitz, Alexander; Tsagarakis, Nikos; Victor, José Santos; Becchi, Francesco; Sandini, Giulio; Metta, Giorgio.

In: International Journal of Humanoid Robotics, Vol. 9, No. 4, 1250027, 12.2012.

Research output: Contribution to journalArticle

Parmiggiani, A, Maggiali, M, Natale, L, Nori, F, Schmitz, A, Tsagarakis, N, Victor, JS, Becchi, F, Sandini, G & Metta, G 2012, 'The design of the iCub humanoid robot', International Journal of Humanoid Robotics, vol. 9, no. 4, 1250027. https://doi.org/10.1142/S0219843612500272
Parmiggiani A, Maggiali M, Natale L, Nori F, Schmitz A, Tsagarakis N et al. The design of the iCub humanoid robot. International Journal of Humanoid Robotics. 2012 Dec;9(4). 1250027. https://doi.org/10.1142/S0219843612500272
Parmiggiani, Alberto ; Maggiali, Marco ; Natale, Lorenzo ; Nori, Francesco ; Schmitz, Alexander ; Tsagarakis, Nikos ; Victor, José Santos ; Becchi, Francesco ; Sandini, Giulio ; Metta, Giorgio. / The design of the iCub humanoid robot. In: International Journal of Humanoid Robotics. 2012 ; Vol. 9, No. 4.
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