iCub 2.x
iCub 2.x Wiring
- The logic schematics consist of the logical and electrical connections between boards, sensors and motors.
- The harness schematics are the drawings of all the cables and bundles.
- In the image below, you will find the position of all the harnesses that you find in the pdf.
- In order to find a cable in the Harness file of your robot, you should start looking at this picture to find out where you have to look at.
- The Motor&Board_Placement is the document where you can find the wireframe of the robot with all the electronic boards, motors and sensors labels.
![](../img/Harness_position.png)
ETHERNET backbone
The system architecture of iCub 2.x with ETHERNET backbone is depicted in the following image:
![](../img/Architecture_iCub2.5-E3.2.png)
Logic and Harness iCub 2.5-E3.3 (ETH) - Full robot with COM-EXP and MC4-PLUS
Logic and Harness iCub 2.7-E3.6 - Full robot with high performance IMU on the waist and new face expressions
CAN backbone
Logic and Harness iCub 2.x-E2.0.0
Logic and Harness iCub 2.3_E2.3.0 - Full robot with Talking Head
- iCub 2.3 Talking Head Logic
- iCub 2.3 Talking Head Harness
- iCub 2.3 Talking Head Motor and Board Placement