IIT iCub

iCub stands 104 cm tall (3.5-year-old child size), weighs 22 kg, with 53 degrees of freedom. Designed for cognitive systems research under EU Seventh Framework Programme (€8.5M initial funding, 2004-2010). Name: Cognitive Universal Body. Hands use tendon-driven joints (teflon cables and spring returns) for human-like dexterity. Tactile fingertips, distributed capacitive skin. Hall-effect sensors measure joint angles, optional torque sensors. Eyes function like human retina—highly sensitive to movement and variation. Controlled by onboard PC104 via CANBus. Open-source hardware/software (GPL license). Over 40 units deployed worldwide. Successors: ergoCub (enhanced torque/payload) and iRonCub (industrial/hazardous environments).