Istituto Italiano di Tecnologia (Italy) iCub (1)

Istituto Italiano di Tecnologia (Italy) iCub (2)

~€250,000Built to order by IIT for research labs (per Wikipedia)

AvailableZMP / IK gaitChild-sizedTactile skinOpen source

Weeks+Shipping: Built to order. Built by IIT for research institutions on request. Months of lead time.

IIT iCub ↗Wikipedia ↗

Overview

A child-sized open-source humanoid created by the EU RobotCub consortium to study embodied cognition, with dexterous hands and tactile skin. About thirty units are in labs, mostly in Europe. It is the research standard for developmental robotics rather than locomotion, although later versions walk.

Specifications

Category	Bipeds · Research & legacy bipeds
Released	2008
Country	Italy
Availability	Available
Sales	About 30 iCub units built, used in labs mostly across the EU (estimate) Wikipedia ↗
Programmability	Open source (hardware + software)
Built-in autonomy	Reactive · Responds to its surroundings without a map, such as avoiding obstacles or following a person
Best for	Professionals & labs
Vision sensors	Camera
Actuators	Mixed
Audio	Microphone
Compute type	x86 PC (Intel / AMD)
Balance type	ZMP / IK gait
Height	~1.04 m
Weight	~33 kg (est.)
Compute	On-board PC104 / embedded PC with CAN bus
Speed	Not published
DOF	53
Sensors	Stereo cameras, mics, IMU, force/torque sensors, tactile skin
Balance	Torque-controlled whole-body balancing and ZMP/MPC walking developed in research papers.
SDK	YARP middleware, open-source (GPL) hardware and software