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iCub Versions Table

Currently known iCub versions

iCub version Features Notes
v1.0 This version was distributed during the RobotCub open call. It has the following features:

1. Only the upper arms are covered.
2. No force sensors available.
3. No touch sensors available.

v1.1 Main features are:

1. Sensorized hand joints (MAIS boards are mounted on the back of the hand).
2. Six axes force sensors at each limb. This allows impedance/compliance control as described here.
3. Fully covered (upper arm, forearm, torso, hip, legs).
v1.1.1 This is an intermediate version. The only difference with the previous is that the main control board has changed from eCAN (or CFW1) to CFW2
v1.2 This version has tactile sensors. Main features are:

1. Sensorized palm.
2. Sensorized fingertips

v1.3 This version has tactile sensors added on the forearms.
v1.4 This version has tactile sensors added on the upper arm and chest.
v1.7 This version is characterized by a slight difference in the kinematics of the wrist.
v2.0 This version has:

1. Incremental encoders (optical) directly mounted on the motors (fast side of the reduction gear).
2. Completely redesigned fore-arm and hands assemblies.
Completely redesigned head assembly for higher performances (stronger neck motors, zero-backlash eye movement)
3. Mounts complete set of sensitive skin.
v2.3 This version is a v2.0 + talking-Head (it's now obsolete, head with motors for lips and jaw)
v2.5 This version has:

1. Hands v2.0
2. Stronger legs (with the possibility to mount series elastic elements on the knee and on the ankle)

v2.5.5 This version is a v2.5 + a backpack for batteries
v2.6 v2.5.5 with new face expression (RFE master board)
v2.7 v2.6 with high-performance IMU on the waist
v2.8 v2.7 with beam-splitter in the eye for hosting event driven and frame based sensors
v2.9 obsolete
v2.10 v2.7 with the 4K FRAMOS-IMX145 cameras, NVidia Orin NX (UKIT009) and intel i7 11th on com express type 10 module in the backpack
Special Version Features Notes
v1.x.1 where x > 1 This is the relative 1.x (x>1) version with a V2 head assembly mounted onto a V1 body
v1.x.2 where x > 1 This is the relative 1.x (x>1) version with a V2 hands assembly mounted onto a V1 body with V1 head
v1.x.3 where x > 1 This is the relative 1.x (x>1) version with a V2 head and V2 hands assemblies mounted onto a V1 body
v3.0 Experimental iCub, 1.2 m high with serial kinematic chains in the shoulders and more powerfull motors in the legs
v3.1 v3.0 with new 4k basler cameras, nvidia xavier and intel i7 11th on com express type 10 module (UKIT009)