The iCub project: An open source platform for research in embodied cognition

Abstract

This short paper describes the iCub robot, an endeavor supported mainly by the European Commission to develop a common platform for researchers interested in the study of artificial embodied cognitive systems. The iCub is a humanoid robot of the approximate size of a three years old child, equipped with sensors ranging from cameras, microphones, inertial, force and tactile and distributed fully under the GPL license. It is adopted by about 20 laboratories worldwide and a variety of research is carried out often in collaboration. A support middleware favors sharing of software modules and complex behaviors.