iCub
This is an incremental description of a specific robotics platform for researchers in humanoid robotics.
The paper describes the history and evolution of the iCub humanoid robot platform, from its initial design in the RobotCub EU project to its adoption by over 30 laboratories worldwide, and outlines current research activities and future developments.
In this chapter we describe the history and evolution of the iCub humanoid platform. We start by describing the first version as it was designed during the RobotCub EU project and illustrate how it evolved to become the platform that is adopted by more than 30 laboratories world wide. We complete the chapter by illustrating some of the research activities that are currently carried out on the iCub robot, i.e. visual perception, event driven sensing and dynamic control. We conclude the Chapter with a discussion of the lessons we learned and a preview of the upcoming next release of the robot, iCub 3.0.