The authors present the prototype of a new computer simulator for the humanoid robot iCub. The iCub is a new open-source humanoid robot developed as a result of the RobotCub project (robotcub.org), a collaborative European project aiming at developing a new open- source cognitive robotics platform. The iCub simulator has been developed as part of a joint effort with the European project ITALK (italkproject.org) on the integration and transfer of action and language knowledge in cognitive robots. This is available open-source to all researchers interested in cognitive robotics experiments with the iCub humanoid platform.
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