Scope of document
The purpose of this manual is to describe how to mount/repair the tendons of iCub.
The body parts
Please click on any of the iCub body parts below to get instructions on how to re-cable them.
iCub mechanical versions
Here is a table showing the visual differences of iCub from version 1 to 2.7.
| iCub V1 | iCub V2 |
|---|---|
 |
 |
| iCub V2.5 | iCub V2.5 - Backpack |
 |
 |
Cabling Differences
| Part activated by tendons | iCub V1 | iCub V2 | iCub V2.5 | iCub V2.5 & following (w/ backpack) |
|---|---|---|---|---|
| NECK | NO | YES | YES | YES |
| SHOULDER | YES - V1 | YES - V2 | YES - V2 | YES - V2 |
| ELBOW | YES | YES | YES | YES |
| WAIST | YES | YES | YES | YES |
| LOWER ARM (Forearm + Hand) | YES - V1 | YES - V1 | YES - V2 | YES - V2 |
| HIP | YES | YES | YES | YES |
| ANKLE | YES | YES | NO | NO |