KIT_009 iCub Head with 4K Cameras
Warning
This UKIT is still a work in progress!
Upgrade Kit
This upgrade kit is meant to update the head with new eyes composed by high-resolution cameras, bigger FOV lenses, new GPU, new accomodation for the COM-Express in the backpack, new design for the upper cover of the backpack.
| IIT alias (used as ordering reference) | KIT_009 |
| Applicable to | iCub versions ≥ 2.x |
| Available onboard | – |
| # | Code | Alias | Rev | UM | Qty | Description |
|---|---|---|---|---|---|---|
| 1 | 18476 | MKIT_009 | Pieces | 1 | ||
| 2 | 17018 | WKIT_009 | Pieces | 1 | iCub2.x, Basler cameras, GPU, and COM Express Type 10 (wiring) | |
| 3 | 16519 | EKIT_009 | Pieces | 1 | iCub2.x, Basler cameras, GPU, and COM Express Type 10 (electronics) |
Content material MKIT_009
| Alias | Description | Code | Rev | Qty |
|---|---|---|---|---|
| RMB_UL_255X | RMB BEARING UL 255X | 2344 | 6 | |
| S1_5-6--_-_I2338_B | Dowel pin Ø1.5 x 6 stainless steel A2, DIN7, ISO2338B, VSM12771, UNI1707 | 2354 | 10 | |
| MYONIC_SHIM_PS_2-5_4_THK_0-1 | Myonic Precision Shim PS Ø3x4 mm thickness 0,10 mm | 2698 | 8 | |
| MYONIC_SHIM_PS_5_7_THK_0- 15 | Myonic Precision Shim PS Ø5x7 mm thickness 0,15 mm | 2701 | 10 | |
| RC_IIT_023_P_027 | Eyelid motor encoder support | 5831 | A5 | 1 |
| RC_IIT_023_P_058 | Eyes tilt rod | 5848 | A2 | 1 |
| G2-2--_-_U5923_G | Set screw, hex socket, M2,0 x 2,0, stainless steel A2, DIN913, ISO4026, UNI5923 | 12766 | 4 | |
| M3x06-6LOBE-ISO14581-A2-70 | M3x 6 , ISO14581, 6LOBE socket countersunk flat head screw, f. threaded, A2-70 | 15831 | 6 | |
| M1_6X04-6LOBE-ISO14583-A4-70 | M1.6 x 4 , ISO14583, 6LOBE socket pan head machine screw, fully threaded, A4-70 | 15841 | 2 | |
| M2X08-6LOBE-ISO14583-A2-70 | M2 x 8 , ISO14583, 6LOBE socket pan head machine screw, fully threaded, A2-70 | 15854 | 4 | |
| M2_5X06-6LOBE-ISO14581-A2-70 | M2.5 x 6 , ISO14581, 6LOBE socket countersunk flat head screw, f. threaded, A2- | 15931 | 4 | |
| M2_5X06-6LOBE-ISO14583-A2-70 | M2_5 x 6, ISO14583, 6LOBE socket pan head machine screw, fully threaded, A2-70 | 15993 | 8 | |
| M2_5X08-6LOBE-ISO14583-A2-70 | M2_5 x 6, ISO14583, 6LOBE socket pan head machine screw, fully threaded, A2-70 | 15994 | 6 | |
| M3X06-6LOBE-ISO14583-A2-70 | M3 x 6, ISO14583, 6LOBE socket pan head machine screw, fully threaded, A2-70 | 16022 | 4 | |
| IC_034_G_007 | Eye bulb with inserts | 18375 | 0 | 2 |
| IC_034_G_025 | Orin NX support with inserts | 18384 | 0 | 1 |
| IC_034_M_020 | V2 eye tilt brace A | 18385 | 0 | 1 |
| IC_034_P_017 | Eye pan frame with protrusion | 18386 | 0 | 2 |
| IC_034_P_019 | Eye CCD mounting plate | 18387 | 0 | 2 |
| IC_034_P_020 | Eye tilt brace A | 18388 | 0 | 1 |
| IC_034_P_021 | Eyelid reinforcement | 18389 | 0 | 1 |
| IC_034_P_022 | Eyelid upper | 18390 | 0 | 1 |
| IC_034_P_023 | Eye pan frame | 18391 | 0 | 2 |
| IC_034_P_025 | V2 eye pan rod | 18392 | 0 | 2 |
| IC_034_G_029 | BASE FRAME for boards | 18400 | 0 | 1 |
| IC_034_G_030 | Support for COM with inserts | 18401 | 0 | 1 |
| IC_034_G_031 | Support for connector with inserts | 18402 | 0 | 1 |
| IC_034_G_034 | Cover backpack assy | 18405 | 0 | 1 |
| IC_034_P_034 | V2 head eyes tilt frame | 18475 | 0 | 1 |
Content material WKIT_009
| Code | BOM | Alias | Rev | Qty | Description |
|---|---|---|---|---|---|
| 10132 | 10132 | 20,000 | Housing, Microfit, 2 contacts, 1 row, male, p.3mm, Straight, w to w, lock, key, 5A | ||
| 10879 | 10879 | 20,000 | Crimp terminal, Pico-Lock, female contacts, AWG24-28, 3A | ||
| 11146 | MOLEX_504051-0401 | 10,000 | Housing, Pico-Lock, 4 contacts, 1 row, female, p.1.5mm, Straight, w to w / w to b, lock, nokey, 3A | ||
| 12070 | 12070 | 0,1500 | FTP-LAN cable, Small Diameter AWG28, CAT6 | ||
| 16288 | AMPHENOL-FCI_10073599-006LF | 20,000 | Housing, MiniTek, 6 contacts, 2 row, female, p.2mm, Straight, w to w / w to b, nolock, nokey, 2A | ||
| 328 | 328 | 10,700 | PVC insulated cable, 1 pole, 0.25mmq, AWG23, 500V, black | ||
| 4155 | 4155 | 10,700 | PVC insulated cable, 1 pole, 0.25mmq, AWG23, 500V, yellow | ||
| 4158 | 4158 | 0,2000 | PVC insulated cable, 1 pole, 0.5mmq, AWG20, 500V, yellow | ||
| 4411 | 4411 | 0,2000 | PVC insulated cable, 1 pole, 0.5mmq, AWG20, 500V, black | ||
| 502 | 502 | 40,000 | Crimp terminal, Microfit, female contacts, AWG20-24 | ||
| 510 | 510 | 10,000 | Housing, Varilok, 2 contacts, 1 rows, p.5.08mm, Straight, w to w, lock, key, 8.5A | ||
| 5280 | SWITCHCRAFT-35RASMT4BHNTRX | 10,000 | PCB connector, jack stereo, 5 contact, female, w to b, 90° nolock, nokey, diam 3.5mm, SMD | ||
| 66 | 66 | 0,1500 | Teflon insulated cable, 1 pole, AWG26, 600V, white, UL E20042 | ||
| 68 | 68 | 10,050 | Teflon insulated cable, 1 pole, AWG26, 600V, black, UL E20042 | ||
| 69 | 69 | 0,1500 | Teflon insulated cable, 1 pole, AWG26, 600V, green, UL E20042 | ||
| 70 | 70 | 0,2000 | Teflon insulated cable, 1 pole, AWG26, 600V, yellow, UL E20042 | ||
| 7141 | 7141 | 330,000 | Crimp terminal, FCI MiniTek, female contact, AWG26-30 | ||
| 7142 | amphenol-fci_10073599-008LF | 10,000 | Housing, MiniTek, 8 contacts, 2 row, female, p.2mm, Straight, w to w / w to b, nolock, nokey, 2A | ||
| 7143 | AMPHENOL-FCI_10073599-010LF | 20,000 | Housing, MiniTek, 10 contacts, 2 row, female, p.2mm, Straight, w to w / w to b, nolock, nokey, 2A | ||
| 72 | 72 | 0,6550 | Teflon insulated cable, 1 pole, AWG26, 600V, red, UL E20042 |
| 🔘 Click to download the PDF |
|---|
 |
Content material EKIT_009
| Pieces | Alias | Rev | Description | Code Wgst |
|---|---|---|---|---|
| 1 | PUIAUDIO_AS04004PO-2-R_SPKR | Miniature speaker, 4R, 82dBA,200Hz, 3W, | 12035 | |
| 1 | 13463 | HMC mini PCIE to M.2 KEY E adapter | 13463 | |
| 2 | 13570 | Flexible WIFI Antenna 2.4-5GHz, 34.90*9mm, 200mm cable, MHF4 connector | 13570 | |
| 1 | CONNECTTECH_CCG020 | Carrier Board for COM-Express Type10, Connecttech CCG020 | 15301 | |
| 1 | KONTRON_34099-0000-99-0_R2_1 | COMe mini Active Uni Cooler (w/o HSP) | 15626 | |
| 1 | CKG035 | CableKit for Carrier Board COM-Express Type10, CCG020 | 15785 | |
| 1 | ADVANTECH_SOM-7583C7-S8A1 | COM-Express Type10, Advantech SOM i7-1185G7E 16GB DDR4, 64GB SSD | 16252 | |
| 1 | 16433 | Intel AX210, Mini PCI-e WiFi 6E, 2x2 AC + BT 5.2, M.2 2230 key E | 16433 | |
| 2 | BASLER_2000036061 | M12 Lens, Focus 2.1mm, Aperture 1.8 FOV 170 degree with IR cut filter, ⅓ | 16483 | |
| 1 | 16487 | NVIDIA JETSON XAVIER NX, 69.6mm x 45mm 260-pin SO-DIMM connector, 8 GB LPDDR4, 16GB eMMC | 16487 | |
| 1 | 16488 | NVIDIA Jetson Xavier NX Aluminum Heatsink with 36mm Fan for with Long Cable | 16488 | |
| 1 | CONNECTTECH_NGX014 | Quark Carrier board for NVIDIA® Jetson Nano™ and Xavier NX Module, 5V input | 16518 | |
| 2 | 16547 | Camera Kit for NVIDIA Xavier NX or Jetson Nano, daA4200-30mci, M13B0618W, adapter board and 200mm flat cable | 16547 |
Draft Logic schematic
| 🔘 Click to download the PDF |
|---|
 |
Assembly instruction
Assembly sequence
This upgrade kit is a radical change in the head. For the assembly sequence, refer to the repository icub-tech-iit/cad-mechanics-public
Kinematics
Due to mechanical design constraints, the kinematics of the upgraded head underwent slight changes. While the DH table is the same as the v2 (see: Head V2 Kinematics), the end-effector matrix changes to:
\[
\begin{equation}
T_E =
\begin{bmatrix}
1 & 0 & 0 & 0 \\
0 & 1 & 0 & 0 \\
0 & 0 & 1 & -12.63mm \\
0 & 0 & 0 & 1 \\
\end{bmatrix}
\end{equation}
\]
To use the gaze controller, you must instantiate head_version "v2.10", which is available since the distro release 2024.11.0.
Software instructions
This UKIT also includes an additional NVIDIA Jetson Orin NX mounted on the top of the head, for handling the FRAMOS-IMX415 cameras and performing image processing on the onboard GPU. The Orin NX has to be configured following the flash procedure and then the guide to configure the FRAMOS-IMX415.
If the image has been installed from scratch, an initial configuration is also required, which consists in:
- Set the
icubashostandicub-headashostname. - Configure the network.
For using the images provided by the new FRAMOS-IMX415 camera over the YARP network, it is needed to compile and install yarp-device-argus.