This is the iCub as seen on video: 53 motors, 9 degrees of freedom in each hand, full sensorization, force/torque sensing, full body covers with sensorized skin, compliant legs, complete interface, power supply, a laptop with the latest software (YARP), and shipping & handling.
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1.x: we do not build iCubs in any version 1.x although we upgrade them to the latest versions by replacing the head with better mechanics, include the latest electronics, we also add the full skin system and can install the compliant legs for walking.
2.5: this is the iCub which includes compliant legs derived from the Coman design, battery backpack. This represents the first synthesis of IIT's development of the small humanoids. Several improvements with respect to 1.x versions are especially visible in the hand and head design.
2.7: this is the very latest iCub which includes seeral updates with respect to 2.5. In particular new face expression with RGB leds, skin boards with 9 axis IMUs, and an additional high performance IMU in the waist.
iCub is fully configured and ready to run in minutes after installation.
It can be also equipped with a transportable pre-configured set of servers including GPUs and network switches as needed. The indicative costs to build a full iCub amount to 250,000 Euros.