The iCub is the humanoid baby-robot designed by the RobotCub consortium. The iCub will be a full humanoid robot sized as a three year-old child. The total height is estimated to be around 105cm. It will have 53 degrees of freedom (dof), including articulated hands to be used for manipulation and gesturing and a weight of roughly 20 kg.
Our goal is to produce an integrated design, of an open platform, apt to support various behaviours, and of the most general use possible. Complementary to this requirement, it has to be noted that the RobotCub project is very much about manipulation, and for this reason the robot platform will incorporate this additional requirement by providing sophisticated hands, a flexible oculomotor system, and a reasonable bi-manual workspace. Finally, on top of this, we need to support, global body movements such as crawling, sitting, etc.
A study is being conducted for determining if and how many degrees of freedom are minimally required to produce/generate plausible facial expressions. Facial expression, although not a basic feature of the iCub will be integrated as an optional hardware plug-in.
The robot should be able to crawl and sit (to free the hands from supporting the body) and autonomously move from crawling to sitting and vice-versa.
In this deliverable the specifications of the hardware, electronics platform of the iCub are reported. iCub and relative subgroups performances and results obtained are reported and continuosly upgraded based on the debugging and tests. It has been decided more recently that the documentation of the robot will be hosted in the main RobotCub CVS server which is available for browsing by clicking here.
Pointers to relevant documentation as well as assembly or tuning procedure are also reported. For details on the software architecture please see the deliverable item 8.3.
NOTE: This is a running document which is updated regularly as the design of the platform progresses.
The iCub specifications
The Deliverable item 8.1 contains the initial specifications and design issues we considered during the development of iCub:
Specifications of the electronics (preliminary, before realization): click here to download the pdf
New documentation of the electronics including wiring diagrams is being created at the section: wiring the robot
See additional details below
Platform realization status
Actually several copies of the iCub are being realized and tested over europe. A short overview of the present status of each platform is briefly reported.
- iCub main site, LIRA-Lab and Telerobot, Genoa (IT):
- the left part of the ubber body is being tested while the right part is being realized to complete the setup;
- the head of the iCub was realized and optimized and it is ready to be replicated in three copies;
- the lower body will be soon replicated and will be completed before the summer of 2007.
- Salfor University (UK):
- a first version of the lower body is ready and currently under test.
- IST, Lisbon:
- several versions of the head were realized including facial features.
- EPFL, Switzerland:
- another copy of the head is completed and under test.
- SSSA, Pontedera (IT):
- an indipendent version of hand is being realized and tested in parallel to the one already integrated in the LIRA-Lab+Telerobot design.
Platform realization preliminary results and data
As a first indication a benchmark between the intially estimated body mass distribution and the actual body mass obtained from the final CAD is reported in the following table.
This will soon be updated with prototype data as soon as integration is done.
More details on the results obtained from the platform realization can be found in:
Details of the head: click here to download the pdf
Tests have been performed, some results (VERY preliminary):
- Microphones click here for the pdf
- Test of the head, this caused a replacement of some components (gearbox) click here for the pdf
- Test of the Hall-effect sensors click here for the pdf
HAND (SSSA version)
A document with the specifications and details of the SSSA hand design: click here to download the pdf
Realization and assembly issues
Here we will document the procedures for the assembly of the iCub. These documents will also help troubleshooting in case of failures.
Additional information of the day to day development of the robot is available at:
The CAD drawings repository
CAD files are in the ProEngineering Wildfire 2 standard. They will be made available here. A temporary set of "almost" final drawings is available from the RobotCub website. These files are temporarily password protected since they are not yet final (e.g. the robot is still under serious debugging). To request an account and password please send an email to giorgio.metta _(at)_ robotcub.org.
Once you receive the email and password you can browse the private part of the RobotCub.org website, see:
where you can find (ZIPped) three types of documents:
- 3D CAD files in the ProEngineering Wildfire 2 format, these are useful for debugging and for understanding of the robot functionalities
- 2D dxf drawings, these files are typically used by manufacturers (machine shops) to build parts
- BOM, this consists typically in a two text files with a list of parts; one of them contains the list of the commercial parts
The electronics CAD files (e.g. Orcad, Gerber) are available from the RobotCub website together with the bill of materials:
What is available:
- Head CAD, BOM and 2D drawings: almost final
- General integration: CAD only
- Lowerbody CAD+2D
- Electronics: DC and BL control cards
The additional documents repository
Certain files cannot be archived as CAD files and require a separate repository (e.g. large binary files). The instructions to get will appear here.
Bill of material
A database with the list of parts and details on each of them will be made available. For now be content with a set of text files describing parts and listing the commercially available ones.
This is temporarily available from:
Documents that don't fall in any of the previous categories.