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iCub Tech Docs
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icub-tech-iit/documentation
🟦 iCub Tech Docs
iCub Tech Docs
icub-tech-iit/documentation
🟦 iCub Tech Docs
🟦 iCub Tech Docs
0️⃣ Home Page
1️⃣ iCub Starter Kits
1️⃣ iCub Starter Kits
First steps with the Humanoid iCub
⚙️ iCub HW
⚙️ iCub HW
Summary
The iCub Versions Table
The iCub Versions Table
iCub Versions Table
The iCub Wiring
The iCub Wiring
Summary
iCub 1.x
iCub 2.x
iCub 3.x
The iCub Tendons manual
The iCub Tendons manual
Summary
Neck
Shoulder and Elbow
Lower Arm
Lower Arm
Definition
Version 1
Version 1
Building Phase
Building Phase
How-to Cable and Needed Parts V1
Repair Phase
Repair Phase
Disconnection V1
Lower Arm V1
Wrist and Hand Cabling V1
Version 2
Version 2
Building Phase
Building Phase
How-to Cable and Needed Parts V2
Repair Phase
Repair Phase
Disconnection V1
Lower Arm V2
Wrist and Hand Cabling V2
Waist, Leg and Ankle
The iCub Upgrade Kits
The iCub Upgrade Kits
Summary
KIT_002 Update of torso capacitors
KIT_003 Hands Support
KIT_004 Update upper arm covers
KIT_005 Eyes Motor Replacement Support
KIT_006 Update of differential neck pulley
KIT_007 Ankle for climbing stairs
KIT_008 RealSense Holder
KIT_009 iCub Head with 4K Cameras
KIT_010 iCub Backpack with COM-EXPRESS
iCub Kinematics
iCub Kinematics
Summary
iCub Joints
iCub Joints Limits
Range of Motion of the iCub Shoulders
Robot Configuration
iCub Model naming conventions
Vergence, Version and Disparity
iCub FW Kinematics
iCub FW Kinematics Arms
iCub FW Kinematics Fingers
iCub FW Kinematics Head
iCub FW Kinematics Legs
iCub FW Kinematics IMU
iCub 3
iCub 3
iCub 3 joints specs
ergoCub 1
ergoCub 1
ergoCub 1 joint specs
ergoCub 1 wiring
ergoCub 1 wiring
Summary
ergoCub 1.0
ergoCub 1.1
ergoCub 1.2
iCub CPU boards
Hands
Hands
Summary
Hands MK5
Hands MK5
Overview
Coupling laws
Fingertip skin and MMA board
Wrists
Wrists
Summary
Summary
Table of contents
Wrists
Wrist Mk2
Wrist MK2
Wrist MK2
Overview of the Wrist Mk2
The Mathematics of the Spherical Joint
F/T Sensors
F/T Sensors
Summary
F/T Sensors
F/T Onboard IMU
Study on change of frame for accelerometer measurements
Tactile Sensors
Tactile Sensors
Summary
Physical Sensors
Power push buttons
Custom components
💻 iCub SW
💻 iCub SW
Summary
Software Installation
Software Installation
Summary
Installation from sources
Installation from sources
Superbuild Installation
Superbuild Installation
Windows
Linux (Debian/Ubuntu)
macOS
Manual Installation
Manual Installation
Linux (Debian/Ubuntu)
Installation from pre-compiled binaries
Installation from pre-compiled binaries
Windows
Conda packages
Check your installation
Installation on specific systems on iCub setup
Installation on specific systems on iCub setup
Superbuild Installation
Superbuild Installation
icub-head
Manual Installation
Manual Installation
icub-head
Software Versioning Table
The OS for the ergoCub environment
The OS for the ergoCub environment
Summary
Network
ergocub-head
ergocub-head
Jetpack installation
Post-flashing operations
Post-flashing operations
Install CUDA libraries
Install librealsense
Install jtop
Install CMake (only for Ubuntu 20.04)
ergocub-torso
ergocub-torso
Installation from scratch
The OS for the iCub environment
The OS for the iCub environment
Summary
The OS on icub-head
The OS on icub-head
Introduction
BIOS Tweaks
Installation
Installation
Installation from pre-built image
Installation from scratch
Networking
Bluetooth
User environment
Further tasks
The OS on PC104 (live USB)
The OS on PC104 (live USB)
Introduction
Installation
32 bits version
Details
The OS on other machines (not on robot)
The OS on other machines (not on robot)
Generic iCub environment machines
The iCub Server
The iCub Server
The iCub Dedicated Server
The iCub Dedicated Server
Summary
Installation from pre-built image
Installation from scratch
The iCub Console Server
The CUDA workstation
OS images download
iCub Setup startup procedure
Jetpack installation
Post-flashing operations
Post-flashing operations
Install CUDA libraries
Install librealsense
Install jtop
Install CMake (only for Ubuntu 20.04)
Setup for FRAMOS-IMX415 (only for iCub head v2.10)
iCub Setup Multiple Robots
iCub Setup Multiple Robots
Summary
How to use two iCub robots in gazebo simulation
How to use two real iCub robots on the same network
iCub Firmware
iCub Firmware
Summary
Firmware Toolchain Documentation
Firmware Toolchain Documentation
Summary
Installing Keil
Installing MPLAB
Firmware Documentation
FirmwareUpdater Walkthrough
Associated Firmware
Old Tools
Old Tools
CanLoader
iCub Microphones
iCub Microphones
How to use microphones
Battery Boards
Battery Boards
Summary
BCB Board
BCB Board
Bluetooth Protocol
BAT Board
BAT Board
BAT board
BMS Board
BMS Board
BMS board
Robot Calibration
Robot Calibration
iCub 2.X Robot Calibration
iCub 1.3 Robot Calibration
Stereo Calibration
iCub 3 Stator-Rotor auto-calibration
Calibration Types
Calibration Types
Standard Calibration types
AMO Encoder joint calibration type 10 details
iCub 3 Calibration types
Robot Configuration
Robot Configuration
Summary
Structure of robot configuration data set
Naming conventions
Devices configuration
Calibrator configuration
Robot Testing
Robot Testing
Encoders and Joint limits (manual)
Configure IP on a setup for ETH boards
Configure IP on a setup for ETH boards
Configure IP on a setup for ETH boards
Using iCub or ergoCub with ROS 2
iCub Force Control
Sensor interfaces
Sensor interfaces
Summary
YARP network wrapper servers convention
Sensors mounted on iCub 2.7
Sensors mounted on iCub 3
Sensors mounted on ergoCub
Tactile Sensors
Tactile Sensors
Summary
Reading Tactile Data
Visualizing Tactile Data
Tactile Data Flow
Motor Temperature Sensors
Motor Temperature Sensors
Summary
Overview of Temperature Sensors
Motor Temperature Data Flow
Reading Motor Temperature Data
Table of contents
Wrists
Wrist Mk2
Summary
Wrists
Wrist Mk2
Overview of the Wrist Mk2
The Mathematics of the Spherical Joint
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