iCub
Jan 1, 2007
the iCub humanoid robot
The iCub is a 53DOF open-source humanoid robot. Since 2007 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. Since 2010, until September 2019 I have served the role of hardware lead of the project.
More details about the robot can be found on the project website: www.icub.org.
Related
Publications
This paper presents the architecture of a new hand for the robot iCub. This new hand consists of five fingers actuated by five motors. …
A. Billier,
G. Stellin,
G. Metta,
A. Parmiggiani
The payload-to-weight ratio is one of the most important metrics when designing robotic wrists. A solution to maximize it and to reduce …
Raed Bsili,
Giorgio Metta,
Alberto Parmiggiani
A cost effective robotic hand was developed with the aim of increasing and optimising the functionality of the iCub hand while driving …
A. V. Sureshbabu,
G. Metta,
A. Parmiggiani
Recent developments in human-robot interaction show how the ability to communicate with people in a natural way is of great importance …
Alberto Parmiggiani,
Marco Randazzo,
Marco Maggiali,
Giorgio Metta,
Frédéric Elisei,
Gérard Bailly
Recent developments in human-robot interaction show how the ability to communicate with people in a natural way is of great importance …
A. Parmiggiani,
M. Randazzo,
M. Maggiali,
F. Elisei,
G. Bailly,
G. Metta
Robotic technology has made significant progresses in the past years. Robots are now common in large manufacturing plants and other …
A. Parmiggiani,
M. Randazzo,
L. Natale,
G. Metta
Harmonic Drives (HD) are commonly used in robotics because of zero-backlash and compactness. This makes them ideal for several …
Alberto Parmiggiani,
Marco Randazzo,
Giorgio Metta
Sensorimotor coordination in humanoid robots is the key to accomplish realistic human behavior. Paradigmatic tasks in sensorimotor …
Lorenzo Natale,
Francesco Nori,
Alberto Parmiggiani,
Giorgio Metta
In this paper we evaluate the benefits of series elastic actuation in performing a balancing task on a humanoid robot. By having the …
Jorhabib Eljaik,
Zhibin Li,
Marco Randazzo,
Alberto Parmiggiani,
Giorgio Metta,
Nikos G Tsagarakis,
Francesco Nori
This article describes the design and testing process of a new pair of legs for the iCub. The iCub is an opensource humanoid robot that …
A. Parmiggiani,
G. Metta,
N. Tsagarakis
This article describes the hardware design of the iCub humanoid robot. The iCub is an open-source humanoid robotic platform designed …
Alberto Parmiggiani,
Marco Maggiali,
Lorenzo Natale,
Francesco Nori,
Alexander Schmitz,
Nikos Tsagarakis,
Joseé Santos Viktor,
Francesco Becchi,
Giulio Sandini,
Giorgio Metta
This paper describes the design and integration of three joint torque sensors on the arm of the iCub platform [1], [2]. The objective …
Alberto Parmiggiani,
Marco Randazzo,
Lorenzo Natale,
Giorgio Metta,
Giulio Sandini