The iCub humanoid robot: an open platform for research in embodied cognition

Authors:
Giorgio Metta;Giulio Sandini;David Vernon;Lorenzo Natale;Francesco Nori
Affiliations:
Italian Institute of Technology and University of Genoa, Genoa, Italy;Italian Institute of Technology and University of Genoa, Genoa, Italy;Khalifa University, Sharjah;Italian Institute of Technology, Genoa, Italy;Italian Institute of Technology, Genoa, Italy
Venue:
PerMIS '08 Proceedings of the 8th Workshop on Performance Metrics for Intelligent Systems
Year:
2008

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Abstract

We report about the iCub, a humanoid robot for research in embodied cognition. At 104 cm tall, the iCub has the size of a three and half year old child. It will be able to crawl on all fours 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/FDL licenses. The entire design is available for download from the project homepage and repository (http://www.robotcub.org). In the following, we will concentrate on the description of the hardware and software systems. The scientific objectives of the project and its philosophical underpinning are described extensively elsewhere [1].