The iCub is a one meter tall
humanoid robot platform
developed by the RobotCub
Consortium — a group of EU
universities. The goals were
identical to the PINO project, but
the iCub has met with much more
success. Perhaps because of the
large number of research
institutions that are participating
in the project. The robot’s
hardware, firmware, and high-level
software are all under free
licenses; in most cases, the GNU
FDL and GPL. The RobotCub Wiki is a good source of information on the iCub robot design. As of 2010,
over 8. 5 million euro has been spent on development of the iCub. The robot has 53 motors — providing twice
the degrees of freedom available in the PINO humanoid. Not surprisingly, the iCub is also much more costly to
build than the PINO. Assembled units are sold at cost by the Italian Institute of Technology. Cost per unit is
about $327,000 USD. Development work has progressed from iCub v1.0 to the current iCub v2.5. An iCub v3.0
is under development.
Photo by Wikimedia Commons
user Sessa81, CC BY 3.0
Get the design: http://eris.liralab.it/wiki/Main_Page
Buy a complete iCub: www.iit.it/en/products/catalog.html
Hardware License: e-puck Robot
Open Hardware License
Software License: e-puck Library License
The e-puck project of the Ecole Polytechnique Fédérale de Lausanne is
a collaboration between the Autonomous Systems Lab, the Swarm-Intelligent Systems group, and the Laboratory of Intelligent Systems. The
goal is to create a free/open miniature mobile robot for educational use
that has a simple design, is flexible, user-friendly, and inexpensive. The e-puck is a differential drive robot with a variety of sensors. Many hundreds
of e-puck robots have been produced and tested. The design has gone
through several releases, with improvements from previous versions.
Inexpensive, in this case, means $1,050 USD per robot for assembled units.
No kits are available, but all design documents on the project are on the
Both the hardware and software are released under one-off licenses.
They appear to meet the guidelines of the Free Software Foundation and
Open Source Hardware Foundation closely enough to qualify as free/open.
However, it’s unknown whether they are compatible with standard licenses,
so creating derived works that integrate these designs with others under
conventional licenses may be problematic.
Photo by Stéphane Magnenat, CC BY-SA v3.0
Get the design: www.e-puck.org
Buy a complete e-puck: www.gctronic.com/e-puck.php
SERVO 06.2013 43