iCub

The iCub humanoid robot

The iCub is a 53DOF open-source humanoid robot. Since 2010, until September 2019 I have served the role of hardware lead of the project. Moreover in the years from 2007 to 2019 I have been heavily involved in the design and testing of several of its parts. Among these, the upper-body, the legs, the six-axis force-torque sensors, the covers, the legs, the hands and forearms, and the head.

More details about the robot can be found on the project website: www.icub.org.

Journal Articles

  • Shah, D. and Wu, Y. and Scalzo, A. and Metta, G. and Parmiggiani, A. A comparison of robot wrist implementations for the iCub humanoid. (2019). DOI: 10.3390/robotics8010011. Robotics.
  • Parmiggiani, A. and Randazzo, M. and Maggiali, M. and Metta, G. and Elisei, F. and Bailly, G. Design and Validation of a Talking Face for the iCub. (2015). DOI: 10.1142/S0219843615500267. International Journal of Humanoid Robotics.
  • Parmiggiani, A. and Maggiali, M. and Natale, L. and Nori, F. and Schmitz, A. and Tsagarakis, N. and Victor, J. S. and Becchi, F. and Sandini, G. and Metta, G. The design of the iCub humanoid robot. (2012). DOI: 10.1142/S0219843612500272. International Journal of Humanoid Robotics.

Conference Proceedings

  • Bsili, R. and Metta, G. and Parmiggiani, A. An Evolutionary Approach for the Optimal Design of the iCub mk.3 Parallel Wrist. (2019). DOI: 10.1109/HUMANOIDS.2018.8625040. IEEE-RAS International Conference on Humanoid Robots.
  • Sureshbabu, A. V. and Metta, G. and Parmiggiani, A. A new cost effective robot hand for the iCub humanoid. (2015). DOI: 10.1109/HUMANOIDS.2015.7363454. IEEE-RAS International Conference on Humanoid Robots.
  • Parmiggiani, A. and Randazzo, M. and Maggiali, M. and Elisei, F. and Bailly, G. and Metta, G. An articulated talking face for the iCub. (2015). DOI: 10.1109/HUMANOIDS.2014.7041309. IEEE-RAS International Conference on Humanoid Robots.
  • Parmiggiani, A. and Randazzo, M. and Natale, L. and Metta, G. An alternative approach to robot safety. (2014). DOI: 10.1109/IROS.2014.6942603. IEEE International Conference on Intelligent Robots and Systems.
  • Parmiggiani, A. and Randazzo, M. and Metta, G. On the performance of actuators with harmonic drive speed reducers. (2014). 14th International Conference on New Actuators 2014.
  • Parmiggiani, A. and Metta, G. and Tsagarakis, N. The mechatronic design of the new legs of the iCub robot. (2012). DOI: 10.1109/HUMANOIDS.2012.6651563. IEEE-RAS International Conference on Humanoid Robots.
  • Parmiggiani, A. and Randazzo, M. and Natale, L. and Metta, G. and Sandini, G. Joint torque sensing for the upper-body of the iCub humanoid robot. (2009). DOI: 10.1109/ICHR.2009.5379525. 9th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS09.