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iCub Tech Docs

ergoCub 1.0

icub-tech-iit/documentation

iCub Tech Docs

icub-tech-iit/documentation

🟦 iCub Tech Docs
🟦 iCub Tech Docs
- 0️⃣ Home Page
- 1️⃣ iCub Starter Kits
  1️⃣ iCub Starter Kits
  - First steps with the Humanoid iCub
- ⚙️ iCub HW
  ⚙️ iCub HW
  - Summary
  - The iCub Versions Table
    The iCub Versions Table
    
    iCub Versions Table
  - The iCub Wiring
    The iCub Wiring
    
    Summary
    
    iCub 1.x
    
    iCub 2.x
    
    iCub 3.x
  - The iCub Tendons manual
    The iCub Tendons manual
    
    Summary
    
    Neck
    
    Shoulder and Elbow
    
    Lower Arm
    Lower Arm
    
    Definition
    
    Version 1
    Version 1
    
    Building Phase
    Building Phase
    
    How-to Cable and Needed Parts V1
    
    Repair Phase
    Repair Phase
    
    Disconnection V1
    
    Lower Arm V1
    
    Wrist and Hand Cabling V1
    
    Version 2
    Version 2
    
    Building Phase
    Building Phase
    
    How-to Cable and Needed Parts V2
    
    Repair Phase
    Repair Phase
    
    Disconnection V1
    
    Lower Arm V2
    
    Wrist and Hand Cabling V2
    
    Waist, Leg and Ankle
  - The iCub Upgrade Kits
    The iCub Upgrade Kits
    
    Summary
    
    KIT_002 Update of torso capacitors
    
    KIT_003 Hands Support
    
    KIT_004 Update upper arm covers
    
    KIT_005 Eyes Motor Replacement Support
    
    KIT_006 Update of differential neck pulley
    
    KIT_007 Ankle for climbing stairs
    
    KIT_008 RealSense Holder
    
    KIT_009 iCub Head with 4K Cameras
    
    KIT_010 iCub Backpack with COM-EXPRESS
  - iCub Kinematics
    iCub Kinematics
    
    Summary
    
    iCub Joints
    
    iCub Joints Limits
    
    Range of Motion of the iCub Shoulders
    
    Robot Configuration
    
    iCub Model naming conventions
    
    Vergence, Version and Disparity
    
    iCub FW Kinematics
    
    iCub FW Kinematics Arms
    
    iCub FW Kinematics Fingers
    
    iCub FW Kinematics Head
    
    iCub FW Kinematics Legs
    
    iCub FW Kinematics IMU
  - iCub 3
    iCub 3
    
    iCub 3 joints specs
  - ergoCub 1
    ergoCub 1
    
    ergoCub 1 joint specs
    
    ergoCub 1 wiring
    ergoCub 1 wiring
    
    Summary
    
    ergoCub 1.0 ergoCub 1.0
    Table of contents
    
    ergoCub 1.0 Wiring
    
    Logic and Harness ergoCub 1.0 E1.0 Full Robot
    
    ergoCub 1.1
    
    ergoCub 1.2
  - iCub CPU boards
  - Hands
    Hands
    
    Summary
    
    Hands MK5
    Hands MK5
    
    Overview
    
    Coupling laws
    
    Fingertip skin and MMA board
  - Wrists
    Wrists
    
    Summary
    
    Wrist MK2
    Wrist MK2
    
    Overview of the Wrist Mk2
    
    The Mathematics of the Spherical Joint
  - F/T Sensors
    F/T Sensors
    
    Summary
    
    F/T Sensors
    
    F/T Onboard IMU
    
    Study on change of frame for accelerometer measurements
  - Tactile Sensors
    Tactile Sensors
    
    Summary
    
    Physical Sensors
  - Power push buttons
  - Custom components
- 💻 iCub SW
  💻 iCub SW
  - Summary
  - Software Installation
    Software Installation
    
    Summary
    
    Installation from sources
    Installation from sources
    
    Superbuild Installation
    Superbuild Installation
    
    Windows
    
    Linux (Debian/Ubuntu)
    
    macOS
    
    Manual Installation
    Manual Installation
    
    Linux (Debian/Ubuntu)
    
    Installation from pre-compiled binaries
    Installation from pre-compiled binaries
    
    Windows
    
    Conda packages
    
    Check your installation
    
    Installation on specific systems on iCub setup
    Installation on specific systems on iCub setup
    
    Superbuild Installation
    Superbuild Installation
    
    icub-head
    
    Manual Installation
    Manual Installation
    
    icub-head
  - Software Versioning Table
  - The OS for the ergoCub environment
    The OS for the ergoCub environment
    
    Summary
    
    Network
    
    ergocub-head
    ergocub-head
    
    Jetpack installation
    
    Post-flashing operations
    Post-flashing operations
    
    Install CUDA libraries
    
    Install librealsense
    
    Install jtop
    
    Install CMake (only for Ubuntu 20.04)
    
    ergocub-torso
    ergocub-torso
    
    Installation from scratch
  - The OS for the iCub environment
    The OS for the iCub environment
    
    Summary
    
    The OS on icub-head
    The OS on icub-head
    
    Introduction
    
    BIOS Tweaks
    
    Installation
    Installation
    
    Installation from pre-built image
    
    Installation from scratch
    
    Networking
    
    Bluetooth
    
    User environment
    
    Further tasks
    
    The OS on PC104 (live USB)
    The OS on PC104 (live USB)
    
    Introduction
    
    Installation
    
    32 bits version
    
    Details
    
    The OS on other machines (not on robot)
    The OS on other machines (not on robot)
    
    Generic iCub environment machines
    
    The iCub Server
    The iCub Server
    
    The iCub Dedicated Server
    The iCub Dedicated Server
    
    Summary
    
    Installation from pre-built image
    
    Installation from scratch
    
    The iCub Console Server
    
    The CUDA workstation
    
    OS images download
    
    iCub Setup startup procedure
    
    Jetpack installation
    
    Post-flashing operations
    Post-flashing operations
    
    Install CUDA libraries
    
    Install librealsense
    
    Install jtop
    
    Install CMake (only for Ubuntu 20.04)
    
    Setup for FRAMOS-IMX415 (only for iCub head v2.10)
  - iCub Setup Multiple Robots
    iCub Setup Multiple Robots
    
    Summary
    
    How to use two iCub robots in gazebo simulation
    
    How to use two real iCub robots on the same network
  - iCub Firmware
    iCub Firmware
    
    Summary
    
    Firmware Toolchain Documentation
    Firmware Toolchain Documentation
    
    Summary
    
    Installing Keil
    
    Installing MPLAB
    
    Firmware Documentation
    
    FirmwareUpdater Walkthrough
    
    Associated Firmware
    
    Old Tools
    Old Tools
    
    CanLoader
  - iCub Microphones
    iCub Microphones
    
    How to use microphones
  - Battery Boards
    Battery Boards
    
    Summary
    
    BCB Board
    BCB Board
    
    Bluetooth Protocol
    
    BAT Board
    BAT Board
    
    BAT board
    
    BMS Board
    BMS Board
    
    BMS board
  - Robot Calibration
    Robot Calibration
    
    iCub 2.X Robot Calibration
    
    iCub 1.3 Robot Calibration
    
    Stereo Calibration
    
    iCub 3 Stator-Rotor auto-calibration
  - Calibration Types
    Calibration Types
    
    Standard Calibration types
    
    AMO Encoder joint calibration type 10 details
    
    iCub 3 Calibration types
  - Robot Configuration
    Robot Configuration
    
    Summary
    
    Structure of robot configuration data set
    
    Naming conventions
    
    Devices configuration
    
    Calibrator configuration
  - Robot Testing
    Robot Testing
    
    Encoders and Joint limits (manual)
  - Configure IP on a setup for ETH boards
    Configure IP on a setup for ETH boards
    
    Configure IP on a setup for ETH boards
  - Using iCub or ergoCub with ROS 2
  - iCub Force Control
  - Sensor interfaces
    Sensor interfaces
    
    Summary
    
    YARP network wrapper servers convention
    
    Sensors mounted on iCub 2.7
    
    Sensors mounted on iCub 3
    
    Sensors mounted on ergoCub
  - Tactile Sensors
    Tactile Sensors
    
    Summary
    
    Reading Tactile Data
    
    Visualizing Tactile Data
    
    Tactile Data Flow
  - Motor Temperature Sensors
    Motor Temperature Sensors
    
    Summary
    
    Overview of Temperature Sensors
    
    Motor Temperature Data Flow
    
    Reading Motor Temperature Data

ergoCub 1.0

ergoCub 1.0 Wiring

The system architecture of ergoCub1.0 is depicted in the following image:

Logic and Harness ergoCub 1.0 E1.0 Full Robot