iCub

iCub is a humanoid robot designed by the RobotCub Consortium and several European research universities. It stands 1 meter high and has body dimension like a 3½ year old child.

The creation of iCub is based on the cognitive hypothesis of a human, especially babies, where it is controlled by an on-board PC104 controller using a CANBus actuators and sensors.

It is also equipped with Gigabit Ethernet with off-board software for external communication. iCub uses tendon driven joints for its hand and shoulder, with 53 actuated DOF - 7 in each arm; 9 in each hand; 6 in the head; 3 in the torso or waist; and 6 in each leg.

Features:

• Ability to crawl using visual guidance of optic marker
• Capable of hitting the center of the target in archery or shooting arrows
• Ability to express facial expressions
• Utilizing proximal force/torque sensors, and force control
• Ability to grasp small objects such as balls