Currently known iCub versions¶
|v1.0||This version was distributed during the RobotCub open call. It has the following features:
1. Only the upper arms are covered.
|v1.1||Main features are:
1. Sensorized hand joints (MAIS boards are mounted on the back of the hand).
|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.
|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.|
|v2.0||This version has:
1. Incremental encoders (optical) directly mounted on the motors (fast side of the reduction gear).
|v2.5||This version has:
1. Hands v2.0
|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|
|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|