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iCub
iCub
Last updated: August 30, 2026
Locomotion Type
Biped
Stage
Demo
Height
104 cm
Degrees of Freedom
53 DOF
Hand DOF
9 DOF
Weight
33 kg
Release Year
2004
Computing
Intel Core i7-7600, 4 GB RAM, 32 GB SSD; Ubuntu LTS 64-bit; YARP 3 with ROS interface.
Sensors
2 eye cameras; 2 omnidirectional microphones; head IMU with 3-axis gyroscope, accelerometer and geomagnetic sensor; joint encoders; 8 six-axis force-torque sensors; more than 3,000 capacitive tactile sensors on fingertips, palms, arms, chest and optionally legs.
iCub is IIT's open-source, child-size humanoid platform for embodied AI. It has 53 DOF, including 9 DOF per hand, can crawl, walk, sit and manipulate objects, and combines binocular vision, audio, inertial sensing, force-torque sensing and full-body tactile skin.
Application Scenarios
Embodied AI, cognitive robotics and neuroscience; locomotion and balance; dexterous manipulation and grasping; vision, touch, learning and physical human-robot interaction research.
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