# The iCub Software Architecture: Evolution and Lessons Learned

> Research article (Frontiers in Robotics and AI, 2016) · cited 30× · AI/ML

**Wikidata**: [openalex:W2342565168](https://www.wikidata.org/wiki/openalex:W2342565168)  
**Source**: https://4ort.xyz/entity/the-icub-software-architecture-evolution-and-lessons-learned