The document discusses the iCub robot project, an open-source humanoid robot that costs €200,000 to build. It provides an overview of the iCub specifications and licensing, comparing it to other open hardware projects like Arduino, RepRap, and the Global Village Construction Set. While the iCub design is publicly available under open-source licenses, it is noted that the licensing and documentation of hardware presents unique challenges compared to software.

1. Free Robotics Paul Fitzpatrick

3. Freedom Defined: the OSHW definition

4. How does the iCub stack up?

6. How roboticists and OSHW can help each other Talk is personal opinion, not that of IIT or Robot Rebuilt

7. iCub http://icub.org

9. 53 degrees of freedom (7 per arm, 9 per hand, 6 in head, 3 in torso, 6 per leg)

10. Off-board power, computation; on-board PC104 card, micro-controllers

11. Tendon driven joints for shoulder, hand

12. Stereo cameras, microphones, force/torque sensors, gyros

13. V1.2: sensorized fingertips, palms (108 taxels)

14. iCubs

17. Lots of discussions going on about how to build good free licenses for hardware

20. Hard to do across loosely collaborating institutions

21. Secrecy is complicated, bureaucratic

23. Free licenses useful for setting trusted ground rules

28. Modeled after the Debian Free Software Guidelines.

29. New, still being hammered out (v1.0 was released Feb. 2011)

31. whose design has been released to the public in such a way that anyone can make, modify, distribute, and use those things.”

35. Against fields of endeavor

39. More importantly, public repository is used internally

40. But it takes a lot of documentation to build a humanoid!

43. Secrets are expensive, and get lost

48. iCub developers may get away with mistakes a juicier target might not

49. PR2 Willow Garage

51. Free, open-source software = ROS etc

54. Arduino Smart Projects, Italy

57. Everything that can be free and open, is (but name reserved)

59. Lots of copies, derivatives

60. Copyright-based licensing is being respected, emulated

61. Beagleboard Texas Instruments Digi-Key

62. RepRap reprap.org

64. GPL license

67. $1300 for thing-o-matic kit

69. Sometimes used for prototyping before sending to service e.g. Shapeways to build part in desired material

70. Global Village Construction Set

72. Buy: $8000. Designs: Creative Commons by-sa-3.0

73. Arduino inside

74. RepRap inside (plans)

75. Colliding on thingiverse e.g. thing:7291

80. Work differently to copyrights, different legal world

81. “Copyleft” hack has no clear equivalent

85. Expired patents can stimulate OSHW

88. For whatever reason, technological or legal

89. tactile triangles IIT / University of Genova

92. “... a specific instantiation (e.g. the PCB design and corresponding software) can still be under GPL without affecting the patent.”

93. Not sure about whether this actually will work out “Father of iCub” One of patent holders

95. Happy community of users develop, software becomes well known

96. Company B uses software in a product

97. Company B wants to ship product without offering source code...

99. Without patent, Company B could just redraft designs and work around copyright

101. Borrowing software licenses is a hack

104. Adafruit talk at: foo camp east 2010

107. Need folks with hardware+software skills (e.g. roboticists) to liberate the toolchain

110. Plus: summer school in Italy “ VVV11”