IIT iCub
Italian Institute of TechnologyChild-sized research humanoid for cognitive robotics and embodied AI
About 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).
PROS
- + Open-source hardware/software with a global community
- + highly anthropomorphic (child-sized) design
- + sensitive full-body tactile skin
- + 53 degrees of freedom for high dexterity
- + standardized and mature research platform for comparison studies
CONS
- - Very high enterprise-level cost (~€250
- - 000 per unit)
- - primarily a research testbed (not for commercial deployment)
- - often requires an umbilical cable for power/data in non-portable configurations
Use Cases
Quick Specs
- Type
- Humanoid
- Market
- Research
- Availability
- Available Now
- Price Range
- Enterprise ($200K+)
