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KIT_008 iCub RealSense holder

Upgrade Kit

This upgrade kit is meant to improve iCub's 3D perception and grasping capabilities by adding a RealSense camera plugged on the head, in addition to the other eye cameras.


IIT alias (used as ordering reference) KIT_008
Applicable to iCub 2.7
Available onboard no, optional
# Cod Alias Rev UM Qta Description
1 15363 MKIT_008 Pieces 1 iCub 2.7, head, RealSense holder
2 15389 EKIT_008 Pieces 1 iCub 2.7, head, RealSense holder (electronic parts)
3 15393 WKIT_008 Pieces 1 iCub 2.7, head, RealSense holder (wiring parts)

Content material MKIT_008

Pieces Alias Rev. Description Cod. Wgst
1 IG_027_P_002 A3 iCub Head, RealSense setup, holder 15362
2 V3-8--_-_U5933_C screw – M 3 x 8 – UNI5933 , DIN7991 , ISO10642 – SS A2 – hexagon socket countersunk head 2468
2 V4-16--_-_ISO7045_CZ screw - M4 x 16 - UNI7687 , DIN7985A , ISO7045 - SS A2 - pozidriv cross recessed pan head 11963

Content material EKIT_008

Pieces Alias Rev. Description Cod. Wgst
1 INTEL_REALSENSE_D435i Intel Realsense D435i with IMU, range from 0.2 to 10m, FOV 90 de 14567

Content material WKIT_008

Pieces Alias REV Description Cod. Wgst
1 15365 USB Shielded I/O Cable Assembly, Type C/M to C/M, USB 3.1 GEN4, 3.0m Length, Black 15365
6 531 Cable tie, 100x2.5mm, nylon, black 531

Historical review

This upgrade kit has been developed together with the HSP@IIT research line as an optional plug-in support to improve iCub perception and facilitate it in grasping tasks iCub. For reference, see also the page design holder realsense.


The holder has been designed to be compatible with the two following RealSense models:

Alias Description Cod. Wgst
INTEL_REALSENSE_D415 Intel Realsense D415, range from 0.3 to 10m, FOV 70 de 13038
INTEL_REALSENSE_D435i Intel Realsense D435i with IMU, range from 0.2 to 10m, FOV 90 de i 14567

Assembly instruction

The RealSense holder can be mounted on the top of iCub head by replacing two side screws fixing the face cover, and in the kit are included and USB Type-C cable, screws and cable ties. The kit does NOT include the RealSense. It is recommended to replace the short cable included in the RealSense retail package with the longer one provided with the upgrade kit.


Assembly sequence

Perform the assembly sequence as shown in the following images.

  • First step, remove the two screws V4-12--_-_U5933_C from the side of the face cover as can be seen in the image. Set them aside, just in case you want to successively unmount the RealSense holder. -

  • Second step, fix the holder IG_027_P_002 with the respective screws V4-16--_-_ISO7045_CZ as shown in the image, and fix the hook to the backward cover air vents.


  • Third step, fix the chosen RealSense model to the holder usign the screws V3-8--_-_U5933_C. At this point is possible to plug the USB Type-C cable cod. 15365 and use the cable ties cod. 531 to fix it around the head.



Find the STL and STEP files of the holder's variants stored within this repository.

Calibration of the RealSense Holder

The software tool used to estimate the extrinsic parameters of the RealSense camera when mounted with the holder with respect to the robot known frames is realsense-holder-calibration.

Find therein the relative documentation.