Home

Welcome to the icub-manual wiki!

Before the installation

• Git cheatsheet and tricks

Installation

• Installation on Ubuntu 16
• Installation on Ubuntu 14
• A template bashrc
• Creating a new bootable image for the PC104, i.e. flashing new USB
• Configuration files of the PC104 - useful when you flash a new image of the PC104

Start using the robot

• How to start the robot
• Starting applications from the console (gyarpmanager, etc)
• How to shut down the robot
• Checklist for startup and shutdown [ODT][PDF]

Things to know

• Kinematics, dynamics, URDF
• electronics: ethernet and CAN addresses

The robot with the new forearm

• How to remove and put back the forearm
• How to 3d-print the new forearm
• How to mount the new forearm