iCub Versions Table
Currently known iCub versions
|This version was distributed during the RobotCub open call. It has the following features:
1. Only the upper arms are covered.
|Main features are:
1. Sensorized hand joints (MAIS boards are mounted on the back of the hand).
|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
|This version has tactile sensors. Main features are:
1. Sensorized palm.
|This version has tactile sensors added on the forearms.
|This version has tactile sensors added on the upper arm and chest.
|This version is characterized by a slight difference in the kinematics of the wrist.
|This version has:
1. Incremental encoders (optical) directly mounted on the motors (fast side of the reduction gear).
|This version is a v2.0 + talking-Head (it's now obsolete, head with motors for lips and jaw)
|This version has:
1. Hands v2.0
|This version is a v2.5 + a backpack for batteries
|v2.5.5 with new face expression (RFE master board)
|v2.6 with high-performance IMU on the waist
|v2.7 with beam-splitter in the eye for hosting event driven and frame based sensors
|v2.7 with hands mk5 and forearm mk2
|v2.7 with hands mk5, forearm mk2, new 4k basler cameras, nvidia xavier and intel i7 11th on com express type 10 module (UKIT009)
|where x > 1 This is the relative 1.x (x>1) version with a V2 head assembly mounted onto a V1 body
|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
|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
|Experimental iCub, 1.2 m high with serial kinematic chains in the shoulders and more powerfull motors in the legs
|v3.0 with new 4k basler cameras, nvidia xavier and intel i7 11th on com express type 10 module (UKIT009)