iCub Robot: Redefining Human-Robot Interaction and Research

Robot Name: iCub

Company / Institute: Istituto Italiano di Tecnologia (IIT)

Location: Genoa, Italy

Inception: 2004

Sensors: Cameras (stereo vision), Microphones, Joint torque sensors, Tactile sensors on the skin, Inertial Measurement Unit (IMU)

Skills: Object manipulation, interaction, crawling, walking, learning, balancing and posture control

Industry: Research and development

Programming Languages: C++, Python, YARP (Yet Another Robot Platform)

Commercial availability: No, primarily available for research collaborations and academic institutions.

iCub is a highly advanced humanoid platform designed by Istituto Italiano di Tecnologia (IIT) in Italy, to study human-like behaviors and cognitive development. It is distributed as Open Source following the GPL license. As per the official website, it’s entire design is available from the project’s repositories.

This 104 cm tall robot looks like a 5 years old child. It is an open-source research tool and enables scientists to delve into areas like AI, motor learning, and human-robot interaction. With all these features, iCub is paving the way for advancement in robotics research and applications.

It is particularly known for its ability to learn through exploration and imitation, a key feature that makes it stand out amount humanoid robots. Its human-like proportions and sensory systems allow it to perform complex tasks such as crawling, walking, and object manipulation, making it an ideal platform for testing theroies of motor control and social interaction.

Currently, there are over 42 iCub robots deployed across research institutions across Europe, US, Korea, Singapore, China and Japan contributing to a wide range of studies in robotics, AI, and neuroscience. These robots are part of a global initiative to enhance understanding of humanoid robot behavior and interaction.

According to the official website, iCub is one of the few platforms in the world with a sensitive full-body skin to deal with the physical interaction with the environment possibly including people.

Featured image credits – Niccolò Caranti, CC BY-SA 4.0 https://creativecommons.org/licenses/by-sa/4.0, via Wikimedia Commons

Technology:

The iCub robot is a cutting-edge humanoid robot developed to mimic human cognition and motor skills. It features 53 degrees of freedom, allowing for sophisticated movements in its head, arms, hands, and legs. It is equipped with a highly sensitive artificial skin to detect tactile stimuli, stereo cameras for vision, and joint torque sensors for feedback on force and motion.

The robot’s modular design allows researchers to adapt and upgrade its components, making it an evolving platform for robotics innovation. Its open-source software framework, YARP, facilitates seamless integration of new algorithms and functionalities, fostering collaborative advancements in AI and robotics.

Programming Language (s):

The primary programming languages used for iCub include C++ and Python. YARP serves as the middleware for handling communication and control. Developers can create applications for iCub to execute tasks like object recognition, speech interaction, and movement planning, leveraging machine learning libraries for adaptive behaviors.

Current Use

iCub is utilized globally in research projects focusing on robotics, neuroscience, and artificial intelligence. It serves as a platform for studying motor control, cognitive development, and human-robot interaction. Universities and research labs collaborate with IIT to explore new algorithms that enable robots to learn from their environment and mimic human-like behavior. As of now, there are 42 iCub robots deployed around the world.

Specifications :

• Height: 104 cm
• Weight: 22 kg
• Degrees of Freedom: 53
  • Arms: 16 (8 per arm)
  • Legs: 6 (3 per leg)
  • Head: 6
  • Torso: 3
  • Hands: 9 (4 per hand + 1 shared)
• Sensors: Cameras, microphones, tactile skin, torque sensors, IMU
• Power Supply: External or battery-powered