iCub Tech

Our humanoid robot, the iCub™ (I as in “I robot”, Cub as in the man-cub from Kipling’s Jungle Book), has been specifically designed to support research in embodied artificial intelligence (AI). At 104 cm tall, the iCub has the size of a five-year-old child. It can crawl on all fours, walk and sit up to manipulate objects. Its hands have been designed to support sophisticate manipulation skills. The iCub is distributed as Open Source following the GPL/LGPL licenses and can now count on a worldwide community of enthusiastic developers. More than 30 robots have been built so far which are available in laboratories in Europe, US, Korea and Japan. It is one of the few platforms in the world with a sensitive full-body skin to deal with safe physical interaction with the environment. IIT coordinates the project and supports the evolution of the iCub from the research platform of today to the low-cost commercial applications of the near future. We take a 360-degree approach to robotics including mechanical design, power sources, new advanced electronics (e.g. neuromorphic), sensor development (e.g. tactile, cameras), middleware, and control and AI algorithms. Our research is carried out in collaboration with several research lines at IIT, international academic partners, as well as a selected number of industrial stakeholders.

IIT Publications List

Lange R., Traversaro S., Lenord O., Bertsch C.
Integrating the Functional Mock-Up Interface with ROS and Gazebo
Studies in Computational Intelligence, vol. 895, pp. 187-231
Kompatsiari K., Ciardo F., Tikhanoff V., Metta G., Wykowska A.
It’s in the Eyes: The Engaging Role of Eye Contact in HRI
International Journal of Social Robotics, vol. 13, (no. 3), pp. 525-535
Ferigo D., Parmiggiani A., Rampone E., Tikhanoff V., Traversaro S., Pucci D., Natale L.
Robot Platforms and Simulators
Cognitive Robotics, Publisher: MIT Press
Romualdi G., Dafarra S., Hu Y., Ramadoss P., Chavez F.J.A., Traversaro S., Pucci D.
A Benchmarking of DCM-Based Architectures for Position, Velocity and Torque-Controlled Humanoid Robots
International Journal of Humanoid Robotics, vol. 17, (no. 1)
Rendiniello A., Remus A., Sorrentino I., Murali P.K., Pucci D., Maggiali M., Natale L., Traversaro S., Villagrossi E., Polo A., Ardesi A.
A Flexible Software Architecture for Robotic Industrial Applications
IEEE International Conference on Emerging Technologies and Factory Automation, ETFA, vol. 2020-September, pp. 1273-1276