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KIT_009 iCub Head with 4K Cameras

Warning

This UKIT is still work in progress!

Upgrade Kit

This upgrade kit is meant to update the head with high resolution cameras, bigger FOV lenses, 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

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:

\[ \begin{equation} T_E = \begin{bmatrix} 1 & 0 & 0 & 0 \\ 0 & 1 & 0 & 0 \\ 0 & 0 & 1 & -5.4mm \\ 0 & 0 & 0 & 1 \\ \end{bmatrix} \end{equation} \]

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 includes also 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:

For using the images provided by the new Basler camera over the YARP network, it is needed to compile and install yarp-device-pylon.