iCub Electronics

iCub Electronics

1. iCub upgrades 2. The Blue iCub3. What next…

iCub upgrades

iCub wireless (power supply and GEth) iCub Eyes 2.0 iCub Skin new features

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

BatteryBackPack

BatteryBackPack

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

iCub Head – PC104+ solution

PCI

Wifi 802.11ac

Carrier board

COM-Express Compact

HEATSINK

HeatSpreader

FireWire Connector

CFW_002

5 15 8 11 102 2 2

55mm

6.5

iCub 1,2 Upgrade

CFW-002

PCI

139 4 139 4

CARRIER BOARD

Type 2Type 2

PCI (

bott

om)

Mini PCIe

12V

INU

SBH

D MI

GbE

TH

Wifi 802.11ac

Antenna

iCub 1,2 Upgrade

CFW-002

PCI

139 4 139 4

Wifi 802.11ac

Antenna

CARRIER BOARD

Type 2Type 2

PCI (

bott

om)

Mini PCIe

12V

INU

SBH

D MI

GbE

TH

iCub 1,2 Upgrade

CFW-002

PCI

139 4 139 4

Wifi 802.11ac

Antenna

CARRIER BOARD

Type 2Type 2

PCI (

bott

om)

Mini PCIe

12V

INU

SB…

GbE

TH

iCub Head – COM-Express + Wifi 802.11ac

COM-Express Compact

Type 2Type 2

CFW-002

PCI

139 4 139 4

Wifi 802.11ac

Antenna

CARRIER BOARD

Type 2Type 2

PCI (

bott

om)

Mini PCIe

12V

INU

SB…

GbE

TH

iCub Head – COM-Express + Wifi 802.11ac

COM-Express Compact

Type 2Type 2

HeatSpreader

CFW-002

PCI

139 4 139 4

Wifi 802.11ac

Antenna

CARRIER BOARD

Type 2Type 2

PCI (

bott

om)

Mini PCIe

12V

INU

SB…

GbE

TH

iCub Head – COM-Express + Wifi 802.11ac

COM-Express Compact

Type 2Type 2

HeatSpreader

iCub HEAD

iCub Eyes 2.0E-CAM

+HD-CAM Zynq

Board

COMExpress Compact Type

2 or 6

ZynqBoardE-CAM

+HD-CAM

GigE Carrier Board(Switch +WLAN)

GigE

PCIE

Cameras Board

commercialCameras Board

CAM1CAM2

CAM1CAM2

GigE

iCub Eyes 2.0Video 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

The Blue iCub

• What’s inside the Blue iCub

iCub – Current Ethernet based Solutions

20-40kHz current loop

1kHz Ctrl Loops 2FOC

2FOCEMS

100Mb Eth

Sensors(force/torque, torque, skin)

CAN1

CAN2

SPI

MO

TOR

Reflective encoder

Harmonic Drive

Joint Absolute PositionSensor

Torque sensor

CAN

CAN

1kHz ctrl loop

1kHz Ctrl Loops MC4

MC4EMS

Sensors(force/torque, torque, skin)

CAN1

CAN2

MO

TOR

Joint Absolute PositionSensor

iCub – Current Ethernet based Solutions

iCub – Current Ethernet based Solutions

1kHz Ctrl Loops

MC4-PLUS

100Mb Eth

Sensors(force/torque, torque, skin)

CAN1

MO

TOR

Incremental encoder Gearbox

Joint Absolute PositionSensor

CAN

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.

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.