Difference between revisions of "ICub versions"

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m (β†’β€ŽCurrently know iCub versions)
(Point to mantained iCub version page)
 
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=FOREWORDS=
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The documentation on the different iCub versions is now available at 🌐 https://icub-tech-iit.github.io/documentation/icub_versions/ .
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We finally realized that a simple table is not enough to keep track of the uncountable mods we've experienced on the iCub platform.
 
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While implementing a new, more sophisticated tool to keep track of the robots out there (their health state, their hardware version and so forth), we're giving out this list for reference only.
 
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Use it in conjunction with the [[ Can addresses and associated firmware | CAN addresses]] page to figure out which firmware version is to be loaded in your iCub's boards.
 
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=Currently known iCub versions=
 
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{| border="1"
 
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! iCub version
 
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! Features
 
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| v1.0
 
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| This version was distributed during the [http://wiki.icub.org/wiki/RobotCub_Open_Call robotcub open call]. It has the following features:
 
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# Only the upper arms are covered.
 
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# No force sensors available.
 
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# No touch sensors available.
 
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|-
 
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| v1.1
 
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| Main features are:
 
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# Sensorized hand joints ([http://wiki.icub.org/wiki/Hall-effect_sensors MAIS boards] are mounted on the back of the hand).
 
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# Six axes force sensors at each limb. This allows impedance/compliance control as described [[Force Control | here]].
 
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# Fully covered (upper arm, forearm, torso, hip, legs).
 
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|-
 
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| v1.1.1
 
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| This is an intermediate version.
 
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The only difference with the previous is that the main control board has changed from eCAN (or CFW1) to CFW2
 
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| v1.2
 
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| This version has tactile sensors. Main features are:
 
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# Sensorized palm.
 
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# Sensorized fingertips.
 
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| v1.3
 
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| This version has tactile sensors added on the fore arms.
 
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| v1.4
 
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| This version has tactile sensors added on the upper arm and chest.
 
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| v2.0
 
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| This is the actual production version.
 
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# Incremental encoders (optical) directly mounted on the motors (fast side of the reduction gear).
 
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# Completely redesigned fore-arm and hands assemblies.
 
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# Completely redesigned head assembly for higher performances (stronger neck motors, zero backlash eye movement etc etc
 
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# Mounts complete set of sensitive skin.
 
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! Special Version
 
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! Features
 
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| v1.x.1
 
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where x > 1
 
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| This is the relative 1.x (x>1) version with a '''V2 head assembly''' mounted onto a V1 body
 
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Latest revision as of 15:13, 16 June 2020

The documentation on the different iCub versions is now available at 🌐 https://icub-tech-iit.github.io/documentation/icub_versions/ .