The iCub is a humanoid robot designed to support research in embodied AI. At 104 cm tall, the iCub has the size of a five year old child. It can crawl on all fours, walk and sit up to manipulate objects. Its hands have been designed to support sophisticate manipulation skills. The iCub is distributed as Open Source following the GPL licenses and can now count on a worldwide community of enthusiastic developers. The entire design is available for download from the project’s repositories [link alla pagina della Community]. More than 40 robots have been built so far which are available in laboratories across Europe, US, Korea, Singapore, China, and Japan. It is one of the few platforms in the world with a sensitive full-body skin to deal with the physical interaction with the environment possibly including people. I will present the iCub project in its entirety showing how it is evolving towards fulfilling the dream of a personal humanoid in every home.