Difference between revisions of "UPMC iCub project"

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== Using iCub ==
== Using iCub ==
[[File:ICubParis01_setup_serena.png|500px|thumbnail|left|the setup of iCubParis01]]
* starting iCub: [http://wiki.icub.org/wiki/UPMC_iCub_project/Starting_iCub here]
* starting iCub: [http://wiki.icub.org/wiki/UPMC_iCub_project/Starting_iCub here]
* using cameras: [http://wiki.icub.org/wiki/UPMC_iCub_project/cameras here]
* using cameras: [http://wiki.icub.org/wiki/UPMC_iCub_project/cameras here]
[[File:ICubParis01_setup_serena.png|800px|thumbnail|center|the setup of iCubParis01]]
== iCub diary ==
== iCub diary ==

Revision as of 17:34, 26 June 2013

About this guide

General information

This guide is essentially a collection of several wiki pages to support the activities around the iCub in ISIR, UPMC. It provides instructions for the robot maintenance and its configuration, for developers and users. It is complementary to the official manual of iCub, and contains details of some configurations specific to iCubParis.


The guide is written and maintained by Serena Ivaldi.

Please write to Serena for any problem you may encounter in following the instructions on these pages! The robot configuration and its cluster is in continuous evolution!

Printable versions of the guide



CoDyCo is a humanoid robotics project based on the iCub humanoid robot. It is a EU STREP project from 2013 to 2017.

  • CoDyCo software repository: for the moment just go to the git repository
  • CoDyCo software documentation (work in progress)


MACSi is a developmental robotics project based on the iCub humanoid robot. It is funded an as ANR Blanc project from 2010 to 2012.

Technical information for the iCub users in ISIR Lab

Cluster configuration

  • configuration: here
  • script files and demos: here
  • libraries and environment variables: here

Installing iCub on your pc

To install all the software you need for developing, running the simulator, and eventually test your applications on the robot, just follow the instructions on the iCub Manual.

  • A more "verbose" guide to the installation, with pointers to the manual, is here
  • A short guide for installing iCub simulator in Ubuntu: pdf
  • Installing other libraries for iCub: here

iCub Simulators

  • the official simulator of iCub based on ODE: installation
  • simulator based on python (Arboris-Python): installation and first steps
  • simulator based on XDE: installation and first steps

Using iCub

  • starting iCub: here
  • using cameras: here
the setup of iCubParis01

iCub diary

If you want to know what happened to the iCub during his first days in ISIR, you can read this page. The page is no longer maintained because now too many things happen :)

Note: a software/hardware log is kept on the desk close to the power supplies. This log/diary is used to keep track of updates (software, firmware, cluster config, ..), hardware/software issues and failures. If you notice something weird on iCub, or a failure happens, write down on it and then mail Serena immediately!


  • Francesco Nori is visiting our lab for one month (June 2013): iCub balanced on his feet and on one foot for the first time!
  • InnoRobo 2013. iCub videos were shown in GDR-Robotique's stand in Innorobo, Lyon, on March 2013.
  • AERES visit 2012. iCub was shown to the AERES committee with a live demo on November 2012.
  • Fete de la Science 2012. iCub performed for two days in October, during the Science festival organised by ISIR-UPMC
  • Fete de la Science 2011. iCub performed for two days in October, during the Science festival organised by ISIR-UPMC
  • CLAWAR 2011. iCub will be the focus of a workshop organized jointly with Clawar (see the website)
  • VES 2008. iCub in the ISIR-UPMC stand at the European city of Science expo, in Paris (see the video - with French comments)
  • ICT 2008. iCub meets its cousin from IIT in Lyon


Here some pictures of iCub!


YouTube channel - iCubParis

Acknowledgments for this guide: Serena Ivaldi

The old page (before may 2011) is still available here: here