Information about the iCub robot. The iCub robot uses YARP.
Here are setup instructions for working with iCub:
- Calling yarp from Matlab
- The Yarp home page: Yarp here!
- Getting Started and Getting YARPed and Getting RobotCub
- Motor control Documentation and classes and a short tutorial.
- Inertial Sensor
- YARP Devices
- New ports on iCub. Output your target in this format.
- Images from the Robot and how to do something with them image_sink example
- Image class: ImageOf very basic drawing very basic image file read/write
- Class documentation: Port Bottle Thread Semaphore BufferedPort
- The "yarp" command documentation
- Integrating external libraries -- gives tips for OpenCV integration
- Adding your project to iCub
- Notes on CVS: RobotCub repository
- cvs/wincvs tricks, how to get new directories
- There are many examples in your YARP source directory, subdirectory example/os
- YARP home page
- Notes shown on Monday: YARP Ports
- Common CMake problems
- simple sender and receiver example code
Wiring up the robot
Here are details of the electronics and wiring of the robot (ongoing work). Certain documents are unfortunately in Italian. They'll be translated in English as soon as possible.
- DC control boards
- Technical manual: MSWord document
- Brushless control boards
- JTag, serial adapter cards
- MPH, ADC and CAN bus card
- Gerber, here you find the pdf files obtained from the Gerber as reference
- Brushless: pdf file
- External capacitors
- Brushless: Panasonic part number ECOS1JP222B: data sheet
- Molex: See data sheet
- Head wiring: See doc file
- Absolute Encoder Adapter (AEA) doc file
Release controller docs
Consult the User's Guide for information on using the wiki software.