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.

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.

Use it in conjunction with the CAN addresses page to figure out which firmware version is to be loaded in your iCub's boards.

Currently know iCub versions

iCub version Features
v1.0 This version was distributed during the robotcub open call. It has the following features:
  1. Only the upper arms are covered.
  2. No force sensors available.
  3. No touch sensors available.
v1.1 Main features are:
  1. Sensorized hand joints (MAIS boards are mounted on the back of the hand).
  2. Six axes force sensors at each limb. This allows impedance/compliance control as described here.
  3. Fully covered (upper arm, forearm, torso, hip, legs).
v1.1.1 This is an intermediate version.

The only difference with the previous is that the main control board has changed from eCAN (or CFW1) to CFW2

v1.2 This version has tactile sensors. Main features are:
  1. Sensorized palm.
  2. Sensorized fingertips.
v1.3 This version has tactile sensors added on the fore arms.
v1.4 This version has tactile sensors added on the upper arm and chest.
v2.0 This is the actual production version.
  1. Incremental encoders (optical) directly mounted on the motors (fast side of the reduction gear).
  2. Completely redesigned fore-arm and hands assemblies.
  3. Completely redesigned head assembly for higher performances (stronger neck motors, zero backlash eye movement etc etc
  4. Mounts complete set of sensitive skin.
Special Version Features

where x > 1

This is the relative 1.x (x>1) version with a V2 head assembly mounted onto a V1 body