ICub

The dimensions of the iCub are similar to that of a 3.5-year-old child. The robot is controlled by an on-board PC104 controller which communicates with actuators and sensors using CANBus. It utilises tendon driven joints for the hand and shoulder, with the fingers flexed by teflon-coated cable tendons running inside teflon-coated tubes, and pulling against spring returns. Joint angles are measured using custom-designed Hall-effect sensors and the robot can be equipped with torque sensors. The finger tips can be equipped with tactile touch sensors, and a distributed capacitive sensor skin is being developed. The software library is largely written in C++ and uses YARP for external communication via Gigabit Ethernet with off-board software implementing higher level functionality, the development of which has been taken over by the RobotCub Consortium. The robot was not designed for autonomous operation, and is consequently not equipped with onboard batteries or processors required for this —instead an umbilical cable provides power and a network connection. and lighter, more robust legs with greater joint angles and which permit walking rather than just crawling. == Capabilities of iCub ==

The iCub has been demonstrated with capabilities to successfully perform the following tasks, among others: • crawling, using visual guidance with optic marker on the floor • solving complex 3D mazes • archery, shooting arrows with a bow and learning to hit the center of the target • facial expressions, allowing the iCub to express emotions • force control, exploiting proximal force/torque sensors • grasping small objects, such as balls, plastic bottles, etc. • collision avoidance within non-static environments, as well as, self-collision avoidance == iCubs in the world ==

These robots were built by Istituto Italiano di Tecnologia (IIT) in Genoa and are used by a small but lively community of scientists that use the iCub to study embodied cognition in artificial systems. There are about thirty iCubs in various laboratories mainly in the European Union but also one in the United States. The robots are constructed by IIT and cost about €250,000 each depending upon the version. Most of the financial support comes from the European Commission's Unit E5 or the Istituto Italiano di Tecnologia (IIT) via the recently created iCub Facility department. The development and construction of iCub at IIT is part of an independent documentary film called Plug & Pray which was released in 2010. ==See also==