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Open research humanoid (1.25 m, 52 kg) with 54 DOF, articulated 9-DOF hands, full-body tactile skin and six-axis F/T sensing — a standard platform for embodied-cognition research.
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iCub is the open-source humanoid developed by the Istituto Italiano di Tecnologia (IIT) for research in embodied cognition and avatar systems. The iCub3 generation stands 1.25 m and weighs 52 kg, with 54 degrees of freedom: 4 in the head/eyes, 3 in the neck, 7 per arm, 9 per hand, 3 in the torso and 6 per leg. It carries six-axis force/torque sensors, tactile 'skin' on the upper arms and hands, two eye cameras, ear microphones, a speaker, IMUs and joint encoders. Earlier iCub versions were 1.04 m / ~22 kg. The platform is widely used by research labs worldwide.
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