Explore the cutting-edge research in physical and social human-robot interaction presented in this keynote address from the UMAP 2020 conference. Delve into the world of the iCub humanoid robot, a child-sized platform designed for embodied AI research. Learn about its sophisticated capabilities, including crawling, walking, and object manipulation, as well as its advanced sensory systems for vision, hearing, and touch. Discover how the Italian Institute of Technology is utilizing the iCub to develop technologies for future interactive service robots. Gain insights into the application of machine learning algorithms for interpreting external contact information and contactless cues to enhance human-robot interaction. Understand the significance of the iCub's open-source nature and its growing global community of developers.