iCub versions Table
Currently known iCub versions¶
iCub version | Features | Notes |
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v1.0 | This version was distributed during the RobotCub open call. It has the following features: 1. Only the upper arms are covered. |
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v1.1 | Main features are: 1. Sensorized hand joints (MAIS boards are mounted on the back of the hand). |
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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. |
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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). |
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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 |
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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 | v2.7 with hands mk4 |
Special Version | Features | Notes |
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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 |