iCub Versions Table
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).
|v2.3||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
|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 mk5 and forearm mk2|
|v2.10||v2.7 with hands mk5, forearm mk2, new 4k basler cameras, nvidia xavier and intel i7 11th on com express type 10 module (UKIT009)|
|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)|