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 high-resolution cameras, bigger FOV lenses, a more reliable eyes' tilt mechanism, and new computational units.
IIT alias (used as ordering reference) | KIT_009 |
Applicable to | iCub versions ≥ 2.x |
Available onboard | – |
# | Code | Alias | Rev | UM | Qty | Description |
---|---|---|---|---|---|---|
1 | 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 |
---|---|---|---|---|
V2_5-6--_-_ISO7045_CZ | screw – M2.5 x 6 – UNI7687 , DIN7985A , ISO7045 – SS A2 – pozidriv cross recessed pan head | 2414 | 4 | |
V2-5--_-_ISO7045_CZ | screw – M 2 x 5 – UNI7687 , DIN7985A , ISO7045 – SS A2 – pozidriv cross recessed pan head | 2429 | 5 | |
V2-6--_-_ISO7045_CZ | screw – M 2 x 6 – UNI7687 , DIN7985A , ISO7045 – SS A2 – pozidriv cross recessed pan head | 2439 | 2 | |
V3-8--_-_U5931_GC | screw – M 3 x 8 – UNI5931 , DIN912 , ISO4762 – SS A2 – hexagon socket cap head - fully threaded | 2467 | 2 | |
V3-8--_-_U5933_C | screw – M 3 x 8 – UNI5933 , DIN7991 , ISO10642 – SS A2 – hexagon socket countersunk head | 2468 | 1 | |
D1_6--_-_I4032 | Hexagonal nut - M1.6 - stainless steel A2 - DIN934, ISO4032, UNI5588 | 2522 | 4 | |
V2_5-6--_-_ISO7046-1_CH | screw – M2.5 x 6 – UNI7688 , DIN965A , ISO7046 – SS A2 – phillips cross recessed flat head | 2583 | 10 | |
R1-6--_-_U6592 | Washer - flat regular type - M1.8 (1.7x4x0.3) - SS A2 140HV - DIN125 A, ISO7089, UNI 6592 | 2590 | 2 | |
V1_6-4--_-_I1207_C | screw – M1.6 x 4 – UNI6107 , DIN84A , ISO1207 – SS A2 – slotted cheese head | 2593 | 8 | |
V2-4--_-_ISO7046-1_CH | screw – M 2 x 4 – UNI7688 , DIN965A , ISO7046 – SS A2 – phillips cross recessed flat head | 2707 | 3 | |
G2-3--_-_U5923_G | Set screw, hex socket, M2,0 x 3,0, stainless steel A2, DIN913, ISO4026, UNI5923 | 4305 | 10 | |
HELICOIL_M2-5_L2D | HELICOIL Plus M2.5x5mm , stainless steel A2 | 4884 | 4 | |
STANDOFF-HEX-MF-2_5-10_PTFE | Standoff Hex PTFE M/F M2.5 L=10 | 5990 | 6 | |
B3-6--_-_U9200_A | SNAP RIVET UNI 9200-A 3X6 | 6730 | 4 | |
PEM_SMPS_M25 | PEM self-clinging nut - SMPS M2.5 THK MIN 0.64 | 10527 | 40 | |
S1-4--_-_I2338_B | Dowel pin Ø1.0 x 4 stainless steel A2, DIN7, ISO2338B, VSM12771, UNI1707 | 11950 | 4 | |
ICUB3_020_P_121 | V2 tilt gearbox output shaft | 12332 | 2 | |
S2-5--_-_I2338_B | Dowel pin 2.0 (h8) x 5 stainless steel A2, DIN7, ISO2338B, UNI1707 | 12652 | 2 | |
IC_002_G_011 | Box for speaker PUI-Audio AS04004PO-2-R assy | 12928 | 1 | |
IC_002_P_012 | Grid for speaker | 12930 | 1 | |
IC_002_P_016 | Standard head eyes tilt frame | 12932 | 1 | |
IC_011_G_002 | head tilt and motor lips frame assembly | 12934 | A1 | 1 |
IGUS_JFM-0507-03 | Iglide J Flange bushing D5x3 | 14068 | 2 | |
PEM_SO-M4-10 | PEM Thru-Holes Standoff M4x10 (Steel) | 14069 | 2 | |
KONTRON_34099-0000-99-0_R2_1 | COMe mini Active Uni Cooler (w/o HSP) | 15626 | 1 | |
M2x06-6LOBE-ISO14583-A2-70 | M2x 6 , ISO14583, 6LOBE socket pan head machine screw, fully threaded, A2-70 | 15853 | 4 | |
M2x08-6LOBE-ISO14583-A2-70 | M2x 8 , ISO14583, 6LOBE socket pan head machine screw, fully threaded, A2-70 | 15854 | 4 | |
M4x16-6LOBE-ISO14581-A2-70 | M4x16 , ISO14581, 6LOBE socket countersunk flat head screw, f. threaded, A2-70 | 15862 | 2 | |
M2_5x06-6LOBE-ISO14581-A2-70 | M2.5x 6 , ISO14581, 6LOBE socket countersunk flat head screw, f. threaded, A2-70 | 15931 | 6 | |
M2_5x04-6LOBE-ISO14583-A2-70 | M2.5x 4 , ISO14583, 6LOBE socket pan head machine screw, fully threaded, A2-70 | 15991 | 8 | |
M2_5x05-6LOBE-ISO14583-A2-70 | M2.5x 5 , ISO14583, 6LOBE socket pan head machine screw, fully threaded, A2-70 | 15992 | 16 | |
M2_5x10-6LOBE-ISO14583-A2-70 | M2.5x10 , ISO14583, 6LOBE socket pan head machine screw, fully threaded, A2-70 | 15995 | 8 | |
M3x08-6LOBE-ISO14583-A2-70 | M3x 8 , ISO14583, 6LOBE socket pan head machine screw, fully threaded, A2-70 | 16024 | 2 | |
STANDOFF_MF_M2_5-8_BRASS | Standoff - hexagonal - Brass - MF - M2.5 x 8 | 16068 | 4 | |
ECUB_004_R_002 | Fan and heatsink for board ADVANTECH_SOM-7583C7-S8A1 | 16500 | 1 | |
RS_196-5457 | Metric Nitrile 70 ShA O-Rings Ø int. 2.6mm, Ø ext. 5.4mm 1.4mm | 16512 | 8 | |
STANDOFF_MF_M2_5-5_BRASS | Standoff - hexagonal - Brass - MF - M2.5 x 5 | 16517 | 8 | |
IC_031_G_005 | icub, Head main Chassis | 16520 | 1 | |
IC_031_G_006 | icub, rear support for head chassis | 16521 | 1 | |
IC_031_G_007 | icub, Connetch support for head | 16522 | 1 | |
IC_031_P_020 | icub, head , adapter for head covers | 16523 | 2 | |
IC_031_P_028 | icub, head, Support for wiFi module | 16524 | 3 | |
IC_032_G_004 | EXPRESSIVE HEAD MAIN FRAME ASSY | 16525 | 1 | |
IC_032_G_010 | icub, head frame boards assembly | 16526 | 1 | |
IC_032_G_011 | Neuromoprphic eye | 16527 | 1 | |
IC_032_G_012 | V2 eye CCD group | 16528 | 1 | |
IC_032_G_013 | eye pan motor-gerabov assembly | 16529 | 1 | |
IC_032_G_014 | eyes and speaker assembly | 16530 | 1 | |
IC_032_G_015 | eye support main group | 16531 | 1 | |
IC_032_G_016 | Neuromoprphic eye | 16532 | 1 | |
IC_032_G_017 | eye pan motor-gerabov assembly | 16533 | 1 | |
IC_032_G_018 | V2 eye CCD group | 16534 | 1 | |
IC_032_G_019 | eyelid bushing and gear group | 16535 | 1 | |
IC_032_G_020 | eye bulb assembly with helicoil | 16536 | 2 | |
IC_032_G_025 | icub, RFE electronic board Support | 16537 | 1 | |
IC_032_P_010 | Eyelid reinforcement | 16538 | 1 | |
IC_032_P_011 | eyes pan gearbox motor base | 16539 | 2 | |
IC_032_P_012 | V2 eye tilt motor gearbox | 16540 | 2 | |
IC_032_P_013 | Eye CCD mounting plate | 16541 | 2 | |
IC_032_P_015 | lens holder | 16542 | 2 | |
IC_032_P_016 | Inner eye | 16543 | 2 | |
IC_032_P_017 | External ball eye | 16544 | 2 | |
IC_032_P_018 | eyelid upper | 16545 | 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 |
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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 |
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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:
To use the gaze controller, it is required the instantiation of head_version
"v2.10"
, available since the distro release 2022.11.0.
Software instructions
This UKIT also includes an additional NVIDIA Jetson Xavier NX mounted on the top of the head, for handling the Basler 4K cameras and performing image processing on the onboard GPU. The NVIDIA Jetson has to be configured following the flash procedure.
If the image has been installed from scratch, an initial configuration is also required, which consists in:
- Set the
icub
ashost
andicub-head-cam
ashostname
. - Configure the network bridge and wifi.
For using the images provided by the new Basler camera over the YARP network, it is needed to compile and install yarp-device-pylon
.