1. iCub Electronics

2. 1.iCub upgrades 2.The Blue iCub 3.What next…

3. iCub upgrades  iCub wireless (power supply and GEth)  iCub Eyes 2.0  iCub Skin new features

4. iCub wireless  Battery Pack (Battery, BMS, DC/DC 48V-12V, Soft Start, Fuel gauge, Bluetooth and CAN interface, …)  Carrier board Type 2 with mini PCIExpress for Wifi 802.11ac (1.3 Gbps bandwidth), 1 100Mb ETH, 1 GigaBit ETH, USBs, UART, VGA, PCI.  COM-Express Type 2 Compact (ATOM dualcore 1.86GHz) Note: CFW002 for Cameras and CAN buses

5. BatteryBackPack

7. iCub wireless  Battery Pack (Battery, BMS, DC/DC 48V-12V, Soft Start, Fuel gauge, Bluetooth and CAN interface, …)  Carrier board Type 2 with mini PCIExpress for Wifi 802.11ac (1.3 Gbps bandwidth), 1 100Mb ETH, 1 GigaBit ETH, USBs, UART, VGA, PCI.  COM-Express Type 2 Compact (ATOM dualcore 1.86GHz) Note: CFW002 for Cameras and CAN buses

8. iCub Head – PC104+ solution

9. PCI Wifi 802.11ac Carrier board COM-Express Compact HEATSINK HeatSpreader FireWire Connector CFW_002 5 158 1110 222 55mm 6.5 iCub 1,2 Upgrade

10. CFW-002 PCI 1394 CARRIER BOARD Type 2 PCI (bottom) Mini PCIe 12V IN USB HDMI GbETH Wifi 802.11ac Antenna iCub 1,2 Upgrade

11. CFW-002 PCI 1394 Wifi 802.11ac Antenna CARRIER BOARD Type 2 PCI (bottom) Mini PCIe 12V IN USB HDMI GbETH iCub 1,2 Upgrade

12. CFW-002 PCI 1394 Wifi 802.11ac Antenna CARRIER BOARD Type 2 PCI (bottom) Mini PCIe 12V IN USB … GbETH iCub Head – COM-Express + Wifi 802.11ac COM-Express Compact Type 2

13. CFW-002 PCI 1394 Wifi 802.11ac Antenna CARRIER BOARD Type 2 PCI (bottom) Mini PCIe 12V IN USB … GbETH iCub Head – COM-Express + Wifi 802.11ac COM-Express Compact Type 2 HeatSpreader

14. CFW-002 PCI 1394 Wifi 802.11ac Antenna CARRIER BOARD Type 2 PCI (bottom) Mini PCIe 12V IN USB … GbETH iCub Head – COM-Express + Wifi 802.11ac COM-Express Compact Type 2 HeatSpreader

15. iCub HEAD iCub Eyes 2.0 E-CAM + HD-CAM E-CAM + HD-CAM Zynq Board COMExpress Compact Type 2 or 6 Zynq Board E-CAM + HD-CAM E-CAM + HD-CAM GigE Carrier Board (Switch + WLAN) GigE PCIE Cameras Board commercial Cameras Board CAM1 CAM2 CAM1 CAM2 GigE

16. iCub Eyes 2.0 Video processing (tentative) Image Capture Frame Capture Module (MIPI interface) Frame Buffering Cropping/Scaling Color enhancements CMOS sensor settings Lens Calibration Lens calibration using Intrinsic parameters (offline) Stereo Rectification Extrinsic Parameters estimated online by means of initial offline calibration + camera position sensors Hj Stereo Correspondence Semi Global Block Matching (SGBM) is a possible algorithm to be used Post Processing HDMI output for debugging purpouse Video streamings (stereo output, camera output) Video Compression? Cameras Input Encoders Input

17. The Blue iCub What’s inside the Blue iCub

18. iCub – Current Ethernet based Solutions 20-40kHz current loop 1kHz Ctrl Loops 2FOC EMS 100Mb Eth Sensors ( force/torque, torque, skin ) CAN1 CAN2 SPI MOTOR Reflective encoder Harmonic Drive Joint Absolute Position Sensor Torque sensor CAN

19. 1kHz ctrl loop 1kHz Ctrl Loops MC4 EMS Sensors ( force/torque, torque, skin ) CAN1 CAN2 MOTOR Joint Absolute Position Sensor iCub – Current Ethernet based Solutions

20. 1kHz Ctrl Loops MC4-PLUS 100Mb Eth Sensors ( force/torque, torque, skin ) CAN1 MOTOR Incremental encoder Gearbox Joint Absolute Position Sensor CAN

21. iCub – Current Ethernet Solution 1 The EMS is a gateway between CAN and Motor Control boards. MC4 does not have current loop, and there are 12 axis in a CAN bus line.

22. iCub – Current Ethernet Solutions 2 The EMS is a gateway between CAN and Motor Control boards. MC4-PLUS has a direct connection with 4 DC motors.