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

doi:10.1142/S0219843612500272

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 journal › Article › peer-review

78 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 language	English
Article number	1250027
Journal	International Journal of Humanoid Robotics
Volume	9
Issue number	4
DOIs	https://doi.org/10.1142/S0219843612500272
Publication status	Published - 2012 Dec
Externally published	Yes

Keywords

Humanoid robotics
cognitive system
open source

ASJC Scopus subject areas

Mechanical Engineering
Artificial Intelligence

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10.1142/S0219843612500272

Cite this

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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.",

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note = "Funding Information: This work has been supported by the European Commision RobotCub IST-FP6-004370, CHRIS IST-FP7-215805, RoboSKIN ICT-FP7-231500 and Xperience ICT-FP7-270273 projects.",

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AU - Parmiggiani, Alberto

AU - Maggiali, Marco

AU - Natale, Lorenzo

AU - Nori, Francesco

AU - Schmitz, Alexander

AU - Tsagarakis, Nikos

AU - Victor, José Santos

AU - Becchi, Francesco

AU - Sandini, Giulio

AU - Metta, Giorgio

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The design of the iCub humanoid robot

Abstract

Keywords

ASJC Scopus subject areas

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