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Humanoid Robotics: A Reference

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Abstract

In this chapter we describe the history and evolution of the iCub humanoid platform. We start by describing the first version as it was designed during the RobotCub EU project and illustrate how it evolved to become the platform that is adopted by more than 30 laboratories worldwide. We complete the chapter by illustrating some of the research activities that are currently carried out on the iCub robot, i.e., visual perception, event-driven sensing, and dynamic control. We conclude the chapter with a discussion of the lessons we learned and a preview of the upcoming next release of the robot, iCub 3.0.

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Acknowledgements

The authors would like to acknowledge the support of the European Union, which – since the beginning and through several grants – has contributed to advancing the iCub platform in all its aspects. In particular we would like to explicitly acknowledge fundings from the following projects: European FP7 ICT projects No. 611832 (WALK-MAN), No. 600716 (CoDyCo), No 611909 (Koroibot), No 610967 (TACMAN), No 270273 (Xperience), and No 231467 (eMorph).

We would like also to acknowledge the contribution of all researchers and technicians working in the iCub Facility Department: without their skills and dedication, not much of what described in the chapter would have been possible.

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Authors and Affiliations

  1. iCub Facility, Istituto Italiano di Tecnologia, 16163, via Morego 30, Genova, Italy

    Lorenzo Natale, Chiara Bartolozzi, Francesco Nori & Giorgio Metta

  2. Robotics, Brain and Cognitive Sciences Department, Istituto Italiano di Tecnologia, 16163, via Morego 30, Genova, Italy

    Giulio Sandini

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  1. Lorenzo Natale
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  2. Chiara Bartolozzi
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  3. Francesco Nori
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Correspondence to Chiara Bartolozzi .

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  1. Intuitive Surgical , Sunnyvale, California, USA

    Ambarish Goswami

  2. Singapore, Singapur, Singapore

    Prahlad Vadakkepat

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Natale, L., Bartolozzi, C., Nori, F., Sandini, G., Metta, G. (2018). iCub. In: Goswami, A., Vadakkepat, P. (eds) Humanoid Robotics: A Reference. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-7194-9_21-2

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  1. Latest

    iCub
    Published:
    18 January 2018

    DOI: https://doi.org/10.1007/978-94-007-7194-9_21-2

  2. Original

    iCub
    Published:
    05 September 2017

    DOI: https://doi.org/10.1007/978-94-007-7194-9_21-1

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