Deliverable 7.1

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Up to date documentation

It has been decided more recently that the documentation of the robot will be hosted in the main RobotCub CVS server which is available for browsing by clicking here.


The iCub is the humanoid baby-robot designed by the RobotCub consortium. The iCub will be a full humanoid robot sized as a three year-old child. The total height is estimated to be around 105cm. It will have 53 degrees of freedom (dof), including articulated hands to be used for manipulation and gesturing and a weight of roughly 20 kg.

Our goal is to produce an integrated design, of an open platform, apt to support various behaviours, and of the most general use possible. Complementary to this requirement, it has to be noted that the RobotCub project is very much about manipulation, and for this reason the robot platform will incorporate this additional requirement by providing sophisticated hands, a flexible oculomotor system, and a reasonable bi-manual workspace. Finally, on top of this, we need to support, global body movements such as crawling, sitting, etc.

A study is being conducted for determining if and how many degrees of freedom are minimally required to produce/generate plausible facial expressions. Facial expression, although not a basic feature of the iCub will be integrated as an optional hardware plug-in.

The robot should be able to crawl and sit (to free the hands from supporting the body) and autonomously move from crawling to sitting and vice-versa.

In this deliverable the specifications of the hardware, electronics platform of the iCub are reported. iCub and relative subgroups performances and results obtained are reported and continuosly upgraded based on the debugging and tests. It has been decided more recently that the documentation of the robot will be hosted in the main RobotCub CVS server which is available for browsing by clicking here.

Pointers to relevant documentation as well as assembly or tuning procedure are also reported. For details on the software architecture please see the deliverable item 8.3.

NOTE: This is a running document which is updated regularly as the design of the platform progresses.

The iCub specifications

The Deliverable item 8.1 contains the initial specifications and design issues we considered during the development of iCub:

Deliverable 8.1

Specifications of the electronics (preliminary, before realization): click here to download the pdf

See additional details below

New documentation of the electronics including wiring diagrams is being created an will be available on the iCubPlatform CVS module.

Latest addendum to Deliverable 8.1 (iCub specifications) is available on Deliverable 8.1.

Platform realization status (October 2007)

Prototype Status: fully built, under debugging


  • finalization of the pc104 card software
  • hand sensor reading
  • force torque sensor AD card.


  • minor debugging activities
  • designing cover and heat sinks


  • low-level code and calibration under debugging
  • higher level under development
  • infrastructure mainly stable (only debugging activities)

Copies (intra consortium) Status: head built in several copies, upper body under duplication, legs under duplication

Open Call Status: mechanical fabrication started, commercial parts mostly ordered or in the process of being purchased

Extra consortium Status: one copy of the legs and waist under fabrication


Platform realization preliminary results and data

The iCub information about realization and assembly instructions is available from the manuals folder in the CVS repository. Please see: iCub manuals

Realization and assembly issues

The documentation of the assembly and wiring of the robot has been moved completely on the CVS module iCubPlatform on the RobotCub CVS server (see above).

The CAD drawings repository

CAD files are in the ProEngineering Wildfire 2 standard. They will be made available on CVS. Please discard any temporary version that you might have received. The up-to-date material is available from the RobotCub CVS server. Please see above.

  • Disclaimer: the robot is still under serious debugging. Be aware of this when reading and using these files. Please send bug reports to Giorgio Metta.

Files are available in three types of documents:

  • 3D CAD files in the ProEngineering Wildfire 2 format, these are useful for debugging and for understanding of the robot structure
  • 2D dxf drawings, these files are typically used by manufacturers (machine shops) to build mechanical parts
  • BOM, this consists typically of a list of parts, sometimes divided between commercial parts (off-the-shelf) and machined parts (that require manifacturing)

The electronics CAD files (e.g. Orcad, Gerber) are also available from the RobotCub CVS together with the relative bill of materials. What is available:

  • Head CAD, BOM and 2D drawings: final
  • Upperbody: final, missing left hand
  • General integration: final
  • Lowerbody CAD+2D: final, missing foot and calf
  • Electronics: DC and BL control cards, missing pc104 interface card and force/torque sensor interface

Bill of materials

A database with the list of parts and details on each of them will be made available. This is in part already available from the CVS repository.


Documents that don't fall in any of the previous categories.