iCub 2.10
Purpose and scope
iCub v2.10 introduces a new head and onboard computing architecture while
retaining the main body architecture of iCub v2.7. Its principal changes are:
- the tendonless neck MK3;
- new eyes MK4 and two 4K FRAMOS IMX678 cameras (UKIT009);
- an NVIDIA Jetson Orin NX in the head for camera acquisition and GPU processing;
- an Intel i7 COM Express Type 10 computer in the backpack;
- a network configuration that accounts for both onboard computers.
This page explains what changed, how it affects users, and where to find the detailed procedures.
Main differences
| Area | Earlier iCub 2.x | iCub 2.10 | User impact |
|---|---|---|---|
| Neck | Tendon-based neck | Neck MK3 | Different mechanics, limits and maintenance |
| Eyes | Low resolution cameras | Eyes MK4 with FRAMOS IMX678 cameras | Different camera setup, optics and calibration |
| GPU | External GPU workstation | Jetson Orin NX and Boson carrier | JetPack, carrier BSP and camera setup required |
| CPU | Intel i7 COM Express Type 10 (Type 6 in older iCub) in the head | Intel i7 COM Express Type 10 in the backpack | Different computer and backpack arrangement |
| Network | Earlier onboard-computer arrangement | Two onboard computers | Hostnames, addresses and routing |
| Head kinematics | iCub v2.x configuration |
head_version v2.10 |
Required by software using head/camera geometry (i.e. iKinGazeCtrl) |
Neck MK3
Neck MK3 replaces the tendon-based neck with a compact tendonless serial mechanism. Its joints are ordered pitch, roll and yaw, from bottom to top. See Neck MK3 for mechanical details and ranges of motion.
Eyes MK4 and FRAMOS IMX678 cameras
The eyes MK4 use two FRAMOS IMX678 modules connected to the Orin NX through the
Connect Tech Boson carrier. The changed camera transform requires applications
such as the gaze controller to select head_version v2.10, introduced and documented from
software distribution 2024.11.0.
Detailed references:
Onboard computers
icub-head
The head houses a Jetson Orin NX on a Connect Tech Boson carrier. The installation procedure is described in the JetPack page, while the guide on how to configure it with the FRAMOS IMX678 cameras is described in dedicated setup paragraph.
icub-torso
The backpack now contains an Intel i7 COM Express Type 10 computer. The details can be found in the UKIT_010 and
iCub CPU boards. This board is responsible for doing the motor control and thus running the yarprobotinterface.
Network architecture
The presence of a second onboard computer changes how users connect to the robot and how camera data reaches setup machines. The network page collects the information about hostnames, interfaces, subnets, addresses, gateways, routing and YARP name-server location.