iCub

The iCub is a 1.05 m, 33 kg compact humanoid from Istituto Italiano di Tecnologia (Genoa, IT), shipping, from EUR 250,000. ROS 2, Python · Java · C# · Matlab SDK. Verified 25 Sept 2026.

ShippingIstituto Italiano di Tecnologia ↗

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List price · US

EUR 250,000

Status

Shipping

DOF

Sources

Claims

19 accepted · 0 in review

Attribute · value

Commercial

Status

shipping

Evidence ▾

Verified · T1⚑ Report

icub.iit.it · source ↗

The iCub can be obtained from the Istituto Italiano di Tecnologia for a fee (indicative prices are shown below).

Accessed 25 Sept 2026

List priceUSD · lower is better

EUR 250,000

Evidence ▾

Verified · T1⚑ Report

icub.iit.it · source ↗

The indicative costs to build a full iCub amount to 250,000 Euros.

Accessed 25 Sept 2026

Pricing type

quote only

Evidence ▾

Verified · T1⚑ Report

icub.iit.it · source ↗

For official quotations or general enquiries about the iCub please contact Giorgio Metta

Accessed 25 Sept 2026

Physical

Heightm

1.05 m

Evidence ▾

Verified · T1⚑ Report

icub.iit.it · source ↗

Body Height ~105 cm Width 36.5 cm

Accessed 25 Sept 2026

Weightkg

33 kg

Evidence ▾

Verified · T1⚑ Report

icub.iit.it · source ↗

Weight: 33kg (30kg + 3kg battery backpack)

Accessed 25 Sept 2026

Degrees of freedom

Evidence ▾

Verified · T1⚑ Report

icub.iit.it · source ↗

The total number of degrees of freedom is 53.

Accessed 25 Sept 2026

Hand DOF

Evidence ▾

Verified · T1⚑ Report

icub.iit.it · source ↗

53 motors, 9 degrees of freedom in each hand

Accessed 25 Sept 2026

Hand type

Five-finger dexterous hand, nine motors driving tendons, 3-DoF wrist, tactile sensors in palm and fingertips

Evidence ▾

Verified · T1⚑ Report

icub.iit.it · source ↗

The iCub hand is a dexterous hand with five fingers actuated by nine motors through a set of tendons.

Accessed 25 Sept 2026

Technical

Sensors

2 cameras (Pointgrey Dragonfly 2, 640x480) in the eyes · 2 stereo omnidirectional microphones · inertial sensors (3-axis gyroscope, accelerometer and geomagnetic, BOSCH BNO055) · absolute magnetic and incremental joint encoders · 6 six-axis force/torque sensors plus 2 ankle sensors · more than 3000 capacitive tactile sensors (skin)

Evidence ▾

Verified · T1⚑ Report

icub.iit.it · source ↗

Cameras 2 Mounted in the eyes (see above), Pointgrey Dragonfly 2 (640x480) Microphones 2 SoundMan High quality Stereo Omnidirectional microphone

Accessed 25 Sept 2026

Cameras

2 x Pointgrey Dragonfly 2 (640x480) mounted in the eyes

Evidence ▾

Verified · T1⚑ Report

icub.iit.it · source ↗

Cameras 2 Mounted in the eyes (see above), Pointgrey Dragonfly 2 (640x480)

Accessed 25 Sept 2026

Compute

Intel i7 7600 CPU, 4 GB RAM, 32GB SSD

Evidence ▾

Verified · T1⚑ Report

icub.iit.it · source ↗

On board Computer CPU Intel i7 7600 RAM 4 GB SSD 32GB

Accessed 25 Sept 2026

AI stack

iCub software repository: kinematics and dynamics, force/impedance control, reaching and grasping behaviours, attention system, online object learning and recognition, speech interfaces, OpenCV, Point Cloud

Evidence ▾

Verified · T1⚑ Report

icub.iit.it · source ↗

- Attention system; - Object learning and recognition (online); - Speech interfaces

Accessed 25 Sept 2026

Operating system

Ubuntu LTS 64 bits

Evidence ▾

Verified · T1⚑ Report

icub.iit.it · source ↗

Operating System Ubuntu LTS 64 bits

Accessed 25 Sept 2026

Software

ROS support

ros2

Evidence ▾

Reported · T2⚑ Report

mesh-iit.github.io · source ↗

Using iCub or ergoCub with ROS 2

Accessed 25 Sept 2026

SDK available

Yes

Evidence ▾

Verified · T1⚑ Report

icub.iit.it · source ↗

All source code is available from the GIT repository (https://github.com/robotology)

Accessed 25 Sept 2026

SDK languages

Python · Java · C# · Matlab

Evidence ▾

Verified · T1⚑ Report

icub.iit.it · source ↗

- Interfaces to various programming languages (e.g. Python, Java, C#).

Accessed 25 Sept 2026

API type

YARP 3 middleware with interface to ROS

Evidence ▾

Verified · T1⚑ Report

icub.iit.it · source ↗

Middleware YARP 3, interface to ROS.

Accessed 25 Sept 2026

Developer docs

http://www.icub.org

Evidence ▾

Verified · T1⚑ Report

icub.iit.it · source ↗

All technical documentation is available from the manual (www.icub.org)

Accessed 25 Sept 2026

Capability

Target market

research

Evidence ▾

Verified · T1⚑ Report

icub.iit.it · source ↗

We would like to promote high quality research through high quality robotics.

Accessed 25 Sept 2026

Recent changes · this robotFull changelog →

25 Sept 2026ROS supportros2

25 Sept 2026Developer docshttp://www.icub.org

25 Sept 2026AI stackiCub software repository: kinematics and dynamics, force/impedance control, reaching and grasping behaviours, attention system, online object learning and recognition, speech interfaces, OpenCV, Point Cloud

25 Sept 2026SDK languagesPython · Java · C# · Matlab

25 Sept 2026SDK availableYes

25 Sept 2026API typeYARP 3 middleware with interface to ROS

25 Sept 2026Operating systemUbuntu LTS 64 bits

25 Sept 2026ComputeIntel i7 7600 CPU, 4 GB RAM, 32GB SSD

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