diff --git a/iCubAberystwyth01/firmwareupdater.ini b/iCubAberystwyth01/firmwareupdater.ini
new file mode 100644
index 0000000000..48ba87e2b8
--- /dev/null
+++ b/iCubAberystwyth01/firmwareupdater.ini
@@ -0,0 +1,11 @@
+[DRIVERS]
+CFW2 "0"
+CFW2 "1"
+CFW2 "2"
+CFW2 "3"
+CFW2 "4"
+CFW2 "5"
+CFW2 "6"
+CFW2 "7"
+CFW2 "8"
+CFW2 "9"
diff --git a/iCubAbuDhabi01/firmwareupdater.ini b/iCubAbuDhabi01/firmwareupdater.ini
new file mode 100644
index 0000000000..48ba87e2b8
--- /dev/null
+++ b/iCubAbuDhabi01/firmwareupdater.ini
@@ -0,0 +1,11 @@
+[DRIVERS]
+CFW2 "0"
+CFW2 "1"
+CFW2 "2"
+CFW2 "3"
+CFW2 "4"
+CFW2 "5"
+CFW2 "6"
+CFW2 "7"
+CFW2 "8"
+CFW2 "9"
diff --git a/iCubAnkara01/firmwareupdater.ini b/iCubAnkara01/firmwareupdater.ini
new file mode 100644
index 0000000000..48ba87e2b8
--- /dev/null
+++ b/iCubAnkara01/firmwareupdater.ini
@@ -0,0 +1,11 @@
+[DRIVERS]
+CFW2 "0"
+CFW2 "1"
+CFW2 "2"
+CFW2 "3"
+CFW2 "4"
+CFW2 "5"
+CFW2 "6"
+CFW2 "7"
+CFW2 "8"
+CFW2 "9"
diff --git a/iCubBarcelona01/firmwareupdater.ini b/iCubBarcelona01/firmwareupdater.ini
new file mode 100644
index 0000000000..48ba87e2b8
--- /dev/null
+++ b/iCubBarcelona01/firmwareupdater.ini
@@ -0,0 +1,11 @@
+[DRIVERS]
+CFW2 "0"
+CFW2 "1"
+CFW2 "2"
+CFW2 "3"
+CFW2 "4"
+CFW2 "5"
+CFW2 "6"
+CFW2 "7"
+CFW2 "8"
+CFW2 "9"
diff --git a/iCubBielefeld01/firmwareupdater.ini b/iCubBielefeld01/firmwareupdater.ini
new file mode 100644
index 0000000000..48ba87e2b8
--- /dev/null
+++ b/iCubBielefeld01/firmwareupdater.ini
@@ -0,0 +1,11 @@
+[DRIVERS]
+CFW2 "0"
+CFW2 "1"
+CFW2 "2"
+CFW2 "3"
+CFW2 "4"
+CFW2 "5"
+CFW2 "6"
+CFW2 "7"
+CFW2 "8"
+CFW2 "9"
diff --git a/iCubBielefeld02/firmwareupdater.ini b/iCubBielefeld02/firmwareupdater.ini
new file mode 100644
index 0000000000..48ba87e2b8
--- /dev/null
+++ b/iCubBielefeld02/firmwareupdater.ini
@@ -0,0 +1,11 @@
+[DRIVERS]
+CFW2 "0"
+CFW2 "1"
+CFW2 "2"
+CFW2 "3"
+CFW2 "4"
+CFW2 "5"
+CFW2 "6"
+CFW2 "7"
+CFW2 "8"
+CFW2 "9"
diff --git a/iCubBielefeld03/firmwareupdater.ini b/iCubBielefeld03/firmwareupdater.ini
new file mode 100644
index 0000000000..48ba87e2b8
--- /dev/null
+++ b/iCubBielefeld03/firmwareupdater.ini
@@ -0,0 +1,11 @@
+[DRIVERS]
+CFW2 "0"
+CFW2 "1"
+CFW2 "2"
+CFW2 "3"
+CFW2 "4"
+CFW2 "5"
+CFW2 "6"
+CFW2 "7"
+CFW2 "8"
+CFW2 "9"
diff --git a/iCubBremen01/firmwareupdater.ini b/iCubBremen01/firmwareupdater.ini
new file mode 100644
index 0000000000..48ba87e2b8
--- /dev/null
+++ b/iCubBremen01/firmwareupdater.ini
@@ -0,0 +1,11 @@
+[DRIVERS]
+CFW2 "0"
+CFW2 "1"
+CFW2 "2"
+CFW2 "3"
+CFW2 "4"
+CFW2 "5"
+CFW2 "6"
+CFW2 "7"
+CFW2 "8"
+CFW2 "9"
diff --git a/iCubChemnitz01/firmwareupdater.ini b/iCubChemnitz01/firmwareupdater.ini
new file mode 100644
index 0000000000..48ba87e2b8
--- /dev/null
+++ b/iCubChemnitz01/firmwareupdater.ini
@@ -0,0 +1,11 @@
+[DRIVERS]
+CFW2 "0"
+CFW2 "1"
+CFW2 "2"
+CFW2 "3"
+CFW2 "4"
+CFW2 "5"
+CFW2 "6"
+CFW2 "7"
+CFW2 "8"
+CFW2 "9"
diff --git a/iCubDaejeon01/firmwareupdater.ini b/iCubDaejeon01/firmwareupdater.ini
new file mode 100644
index 0000000000..48ba87e2b8
--- /dev/null
+++ b/iCubDaejeon01/firmwareupdater.ini
@@ -0,0 +1,11 @@
+[DRIVERS]
+CFW2 "0"
+CFW2 "1"
+CFW2 "2"
+CFW2 "3"
+CFW2 "4"
+CFW2 "5"
+CFW2 "6"
+CFW2 "7"
+CFW2 "8"
+CFW2 "9"
diff --git a/iCubDarmstadt01/firmwareupdater.ini b/iCubDarmstadt01/firmwareupdater.ini
new file mode 100644
index 0000000000..73c39cba7b
--- /dev/null
+++ b/iCubDarmstadt01/firmwareupdater.ini
@@ -0,0 +1,4 @@
+[DRIVERS]
+CFW2 "0"
+CFW2 "9"
+ETH "eth"
diff --git a/iCubEdinburgh01/firmwareupdater.ini b/iCubEdinburgh01/firmwareupdater.ini
new file mode 100644
index 0000000000..73c39cba7b
--- /dev/null
+++ b/iCubEdinburgh01/firmwareupdater.ini
@@ -0,0 +1,4 @@
+[DRIVERS]
+CFW2 "0"
+CFW2 "9"
+ETH "eth"
diff --git a/iCubFrankfurt01/firmwareupdater.ini b/iCubFrankfurt01/firmwareupdater.ini
new file mode 100644
index 0000000000..48ba87e2b8
--- /dev/null
+++ b/iCubFrankfurt01/firmwareupdater.ini
@@ -0,0 +1,11 @@
+[DRIVERS]
+CFW2 "0"
+CFW2 "1"
+CFW2 "2"
+CFW2 "3"
+CFW2 "4"
+CFW2 "5"
+CFW2 "6"
+CFW2 "7"
+CFW2 "8"
+CFW2 "9"
diff --git a/iCubGenova01/firmwareupdater.ini b/iCubGenova01/firmwareupdater.ini
new file mode 100644
index 0000000000..48ba87e2b8
--- /dev/null
+++ b/iCubGenova01/firmwareupdater.ini
@@ -0,0 +1,11 @@
+[DRIVERS]
+CFW2 "0"
+CFW2 "1"
+CFW2 "2"
+CFW2 "3"
+CFW2 "4"
+CFW2 "5"
+CFW2 "6"
+CFW2 "7"
+CFW2 "8"
+CFW2 "9"
diff --git a/iCubGenova02/firmwareupdater.ini b/iCubGenova02/firmwareupdater.ini
new file mode 100644
index 0000000000..c93b53ab35
--- /dev/null
+++ b/iCubGenova02/firmwareupdater.ini
@@ -0,0 +1,2 @@
+[DRIVERS]
+ETH "eth"
diff --git a/iCubGenova03/firmwareupdater.ini b/iCubGenova03/firmwareupdater.ini
new file mode 100644
index 0000000000..48ba87e2b8
--- /dev/null
+++ b/iCubGenova03/firmwareupdater.ini
@@ -0,0 +1,11 @@
+[DRIVERS]
+CFW2 "0"
+CFW2 "1"
+CFW2 "2"
+CFW2 "3"
+CFW2 "4"
+CFW2 "5"
+CFW2 "6"
+CFW2 "7"
+CFW2 "8"
+CFW2 "9"
diff --git a/iCubGenova04/firmwareupdater.ini b/iCubGenova04/firmwareupdater.ini
new file mode 100644
index 0000000000..c93b53ab35
--- /dev/null
+++ b/iCubGenova04/firmwareupdater.ini
@@ -0,0 +1,2 @@
+[DRIVERS]
+ETH "eth"
diff --git a/iCubGenova06/firmwareupdater.ini b/iCubGenova06/firmwareupdater.ini
new file mode 100644
index 0000000000..48ba87e2b8
--- /dev/null
+++ b/iCubGenova06/firmwareupdater.ini
@@ -0,0 +1,11 @@
+[DRIVERS]
+CFW2 "0"
+CFW2 "1"
+CFW2 "2"
+CFW2 "3"
+CFW2 "4"
+CFW2 "5"
+CFW2 "6"
+CFW2 "7"
+CFW2 "8"
+CFW2 "9"
diff --git a/iCubGrenoble01/firmwareupdater.ini b/iCubGrenoble01/firmwareupdater.ini
new file mode 100644
index 0000000000..48ba87e2b8
--- /dev/null
+++ b/iCubGrenoble01/firmwareupdater.ini
@@ -0,0 +1,11 @@
+[DRIVERS]
+CFW2 "0"
+CFW2 "1"
+CFW2 "2"
+CFW2 "3"
+CFW2 "4"
+CFW2 "5"
+CFW2 "6"
+CFW2 "7"
+CFW2 "8"
+CFW2 "9"
diff --git a/iCubHamburg01/firmwareupdater.ini b/iCubHamburg01/firmwareupdater.ini
new file mode 100644
index 0000000000..c1779b4cee
--- /dev/null
+++ b/iCubHamburg01/firmwareupdater.ini
@@ -0,0 +1,3 @@
+[DRIVERS]
+ETH "eth"
+
diff --git a/iCubHeidelberg01/firmwareupdater.ini b/iCubHeidelberg01/firmwareupdater.ini
new file mode 100644
index 0000000000..c93b53ab35
--- /dev/null
+++ b/iCubHeidelberg01/firmwareupdater.ini
@@ -0,0 +1,2 @@
+[DRIVERS]
+ETH "eth"
diff --git a/iCubHertfordshire01/firmwareupdater.ini b/iCubHertfordshire01/firmwareupdater.ini
new file mode 100644
index 0000000000..48ba87e2b8
--- /dev/null
+++ b/iCubHertfordshire01/firmwareupdater.ini
@@ -0,0 +1,11 @@
+[DRIVERS]
+CFW2 "0"
+CFW2 "1"
+CFW2 "2"
+CFW2 "3"
+CFW2 "4"
+CFW2 "5"
+CFW2 "6"
+CFW2 "7"
+CFW2 "8"
+CFW2 "9"
diff --git a/iCubHertfordshire02/firmwareupdater.ini b/iCubHertfordshire02/firmwareupdater.ini
new file mode 100644
index 0000000000..48ba87e2b8
--- /dev/null
+++ b/iCubHertfordshire02/firmwareupdater.ini
@@ -0,0 +1,11 @@
+[DRIVERS]
+CFW2 "0"
+CFW2 "1"
+CFW2 "2"
+CFW2 "3"
+CFW2 "4"
+CFW2 "5"
+CFW2 "6"
+CFW2 "7"
+CFW2 "8"
+CFW2 "9"
diff --git a/iCubKarlsruhe01/firmwareupdater.ini b/iCubKarlsruhe01/firmwareupdater.ini
new file mode 100644
index 0000000000..48ba87e2b8
--- /dev/null
+++ b/iCubKarlsruhe01/firmwareupdater.ini
@@ -0,0 +1,11 @@
+[DRIVERS]
+CFW2 "0"
+CFW2 "1"
+CFW2 "2"
+CFW2 "3"
+CFW2 "4"
+CFW2 "5"
+CFW2 "6"
+CFW2 "7"
+CFW2 "8"
+CFW2 "9"
diff --git a/iCubLausanne01/firmwareupdater.ini b/iCubLausanne01/firmwareupdater.ini
new file mode 100644
index 0000000000..48ba87e2b8
--- /dev/null
+++ b/iCubLausanne01/firmwareupdater.ini
@@ -0,0 +1,11 @@
+[DRIVERS]
+CFW2 "0"
+CFW2 "1"
+CFW2 "2"
+CFW2 "3"
+CFW2 "4"
+CFW2 "5"
+CFW2 "6"
+CFW2 "7"
+CFW2 "8"
+CFW2 "9"
diff --git a/iCubLausanne02/firmwareupdater.ini b/iCubLausanne02/firmwareupdater.ini
new file mode 100644
index 0000000000..c93b53ab35
--- /dev/null
+++ b/iCubLausanne02/firmwareupdater.ini
@@ -0,0 +1,2 @@
+[DRIVERS]
+ETH "eth"
diff --git a/iCubLisboa01/firmwareupdater.ini b/iCubLisboa01/firmwareupdater.ini
new file mode 100644
index 0000000000..48ba87e2b8
--- /dev/null
+++ b/iCubLisboa01/firmwareupdater.ini
@@ -0,0 +1,11 @@
+[DRIVERS]
+CFW2 "0"
+CFW2 "1"
+CFW2 "2"
+CFW2 "3"
+CFW2 "4"
+CFW2 "5"
+CFW2 "6"
+CFW2 "7"
+CFW2 "8"
+CFW2 "9"
diff --git a/iCubLisboa02/firmwareupdater.ini b/iCubLisboa02/firmwareupdater.ini
new file mode 100644
index 0000000000..48ba87e2b8
--- /dev/null
+++ b/iCubLisboa02/firmwareupdater.ini
@@ -0,0 +1,11 @@
+[DRIVERS]
+CFW2 "0"
+CFW2 "1"
+CFW2 "2"
+CFW2 "3"
+CFW2 "4"
+CFW2 "5"
+CFW2 "6"
+CFW2 "7"
+CFW2 "8"
+CFW2 "9"
diff --git a/iCubLondon01/firmwareupdater.ini b/iCubLondon01/firmwareupdater.ini
new file mode 100644
index 0000000000..48ba87e2b8
--- /dev/null
+++ b/iCubLondon01/firmwareupdater.ini
@@ -0,0 +1,11 @@
+[DRIVERS]
+CFW2 "0"
+CFW2 "1"
+CFW2 "2"
+CFW2 "3"
+CFW2 "4"
+CFW2 "5"
+CFW2 "6"
+CFW2 "7"
+CFW2 "8"
+CFW2 "9"
diff --git a/iCubLugano01/firmwareupdater.ini b/iCubLugano01/firmwareupdater.ini
new file mode 100644
index 0000000000..48ba87e2b8
--- /dev/null
+++ b/iCubLugano01/firmwareupdater.ini
@@ -0,0 +1,11 @@
+[DRIVERS]
+CFW2 "0"
+CFW2 "1"
+CFW2 "2"
+CFW2 "3"
+CFW2 "4"
+CFW2 "5"
+CFW2 "6"
+CFW2 "7"
+CFW2 "8"
+CFW2 "9"
diff --git a/iCubLyon01/firmwareupdater.ini b/iCubLyon01/firmwareupdater.ini
new file mode 100644
index 0000000000..48ba87e2b8
--- /dev/null
+++ b/iCubLyon01/firmwareupdater.ini
@@ -0,0 +1,11 @@
+[DRIVERS]
+CFW2 "0"
+CFW2 "1"
+CFW2 "2"
+CFW2 "3"
+CFW2 "4"
+CFW2 "5"
+CFW2 "6"
+CFW2 "7"
+CFW2 "8"
+CFW2 "9"
diff --git a/iCubMunich01/firmwareupdater.ini b/iCubMunich01/firmwareupdater.ini
new file mode 100644
index 0000000000..48ba87e2b8
--- /dev/null
+++ b/iCubMunich01/firmwareupdater.ini
@@ -0,0 +1,11 @@
+[DRIVERS]
+CFW2 "0"
+CFW2 "1"
+CFW2 "2"
+CFW2 "3"
+CFW2 "4"
+CFW2 "5"
+CFW2 "6"
+CFW2 "7"
+CFW2 "8"
+CFW2 "9"
diff --git a/iCubNancy01/firmwareupdater.ini b/iCubNancy01/firmwareupdater.ini
new file mode 100644
index 0000000000..73c39cba7b
--- /dev/null
+++ b/iCubNancy01/firmwareupdater.ini
@@ -0,0 +1,4 @@
+[DRIVERS]
+CFW2 "0"
+CFW2 "9"
+ETH "eth"
diff --git a/iCubNottingham01/firmwareupdater.ini b/iCubNottingham01/firmwareupdater.ini
new file mode 100644
index 0000000000..73c39cba7b
--- /dev/null
+++ b/iCubNottingham01/firmwareupdater.ini
@@ -0,0 +1,4 @@
+[DRIVERS]
+CFW2 "0"
+CFW2 "9"
+ETH "eth"
diff --git a/iCubOffenbach01/firmwareupdater.ini b/iCubOffenbach01/firmwareupdater.ini
new file mode 100644
index 0000000000..48ba87e2b8
--- /dev/null
+++ b/iCubOffenbach01/firmwareupdater.ini
@@ -0,0 +1,11 @@
+[DRIVERS]
+CFW2 "0"
+CFW2 "1"
+CFW2 "2"
+CFW2 "3"
+CFW2 "4"
+CFW2 "5"
+CFW2 "6"
+CFW2 "7"
+CFW2 "8"
+CFW2 "9"
diff --git a/iCubOffenbach02/firmwareupdater.ini b/iCubOffenbach02/firmwareupdater.ini
new file mode 100644
index 0000000000..48ba87e2b8
--- /dev/null
+++ b/iCubOffenbach02/firmwareupdater.ini
@@ -0,0 +1,11 @@
+[DRIVERS]
+CFW2 "0"
+CFW2 "1"
+CFW2 "2"
+CFW2 "3"
+CFW2 "4"
+CFW2 "5"
+CFW2 "6"
+CFW2 "7"
+CFW2 "8"
+CFW2 "9"
diff --git a/iCubOsaka01/firmwareupdater.ini b/iCubOsaka01/firmwareupdater.ini
new file mode 100644
index 0000000000..48ba87e2b8
--- /dev/null
+++ b/iCubOsaka01/firmwareupdater.ini
@@ -0,0 +1,11 @@
+[DRIVERS]
+CFW2 "0"
+CFW2 "1"
+CFW2 "2"
+CFW2 "3"
+CFW2 "4"
+CFW2 "5"
+CFW2 "6"
+CFW2 "7"
+CFW2 "8"
+CFW2 "9"
diff --git a/iCubParis01/firmwareupdater.ini b/iCubParis01/firmwareupdater.ini
new file mode 100644
index 0000000000..48ba87e2b8
--- /dev/null
+++ b/iCubParis01/firmwareupdater.ini
@@ -0,0 +1,11 @@
+[DRIVERS]
+CFW2 "0"
+CFW2 "1"
+CFW2 "2"
+CFW2 "3"
+CFW2 "4"
+CFW2 "5"
+CFW2 "6"
+CFW2 "7"
+CFW2 "8"
+CFW2 "9"
diff --git a/iCubParis02/firmwareupdater.ini b/iCubParis02/firmwareupdater.ini
new file mode 100644
index 0000000000..48ba87e2b8
--- /dev/null
+++ b/iCubParis02/firmwareupdater.ini
@@ -0,0 +1,11 @@
+[DRIVERS]
+CFW2 "0"
+CFW2 "1"
+CFW2 "2"
+CFW2 "3"
+CFW2 "4"
+CFW2 "5"
+CFW2 "6"
+CFW2 "7"
+CFW2 "8"
+CFW2 "9"
diff --git a/iCubPlymouth01/firmwareupdater.ini b/iCubPlymouth01/firmwareupdater.ini
new file mode 100644
index 0000000000..48ba87e2b8
--- /dev/null
+++ b/iCubPlymouth01/firmwareupdater.ini
@@ -0,0 +1,11 @@
+[DRIVERS]
+CFW2 "0"
+CFW2 "1"
+CFW2 "2"
+CFW2 "3"
+CFW2 "4"
+CFW2 "5"
+CFW2 "6"
+CFW2 "7"
+CFW2 "8"
+CFW2 "9"
diff --git a/iCubPlymouth02/firmwareupdater.ini b/iCubPlymouth02/firmwareupdater.ini
new file mode 100644
index 0000000000..48ba87e2b8
--- /dev/null
+++ b/iCubPlymouth02/firmwareupdater.ini
@@ -0,0 +1,11 @@
+[DRIVERS]
+CFW2 "0"
+CFW2 "1"
+CFW2 "2"
+CFW2 "3"
+CFW2 "4"
+CFW2 "5"
+CFW2 "6"
+CFW2 "7"
+CFW2 "8"
+CFW2 "9"
diff --git a/iCubPrototype01/firmwareupdater.ini b/iCubPrototype01/firmwareupdater.ini
new file mode 100644
index 0000000000..48ba87e2b8
--- /dev/null
+++ b/iCubPrototype01/firmwareupdater.ini
@@ -0,0 +1,11 @@
+[DRIVERS]
+CFW2 "0"
+CFW2 "1"
+CFW2 "2"
+CFW2 "3"
+CFW2 "4"
+CFW2 "5"
+CFW2 "6"
+CFW2 "7"
+CFW2 "8"
+CFW2 "9"
diff --git a/iCubRome01/firmwareupdater.ini b/iCubRome01/firmwareupdater.ini
new file mode 100644
index 0000000000..48ba87e2b8
--- /dev/null
+++ b/iCubRome01/firmwareupdater.ini
@@ -0,0 +1,11 @@
+[DRIVERS]
+CFW2 "0"
+CFW2 "1"
+CFW2 "2"
+CFW2 "3"
+CFW2 "4"
+CFW2 "5"
+CFW2 "6"
+CFW2 "7"
+CFW2 "8"
+CFW2 "9"
diff --git a/iCubRome02/firmwareupdater.ini b/iCubRome02/firmwareupdater.ini
new file mode 100644
index 0000000000..48ba87e2b8
--- /dev/null
+++ b/iCubRome02/firmwareupdater.ini
@@ -0,0 +1,11 @@
+[DRIVERS]
+CFW2 "0"
+CFW2 "1"
+CFW2 "2"
+CFW2 "3"
+CFW2 "4"
+CFW2 "5"
+CFW2 "6"
+CFW2 "7"
+CFW2 "8"
+CFW2 "9"
diff --git a/iCubSheffield01/firmwareupdater.ini b/iCubSheffield01/firmwareupdater.ini
new file mode 100644
index 0000000000..73c39cba7b
--- /dev/null
+++ b/iCubSheffield01/firmwareupdater.ini
@@ -0,0 +1,4 @@
+[DRIVERS]
+CFW2 "0"
+CFW2 "9"
+ETH "eth"
diff --git a/iCubSingapore01/firmwareupdater.ini b/iCubSingapore01/firmwareupdater.ini
new file mode 100644
index 0000000000..c93b53ab35
--- /dev/null
+++ b/iCubSingapore01/firmwareupdater.ini
@@ -0,0 +1,2 @@
+[DRIVERS]
+ETH "eth"
diff --git a/iCubTemplateHeadV2_0/firmwareupdater.ini b/iCubTemplateHeadV2_0/firmwareupdater.ini
new file mode 100644
index 0000000000..48ba87e2b8
--- /dev/null
+++ b/iCubTemplateHeadV2_0/firmwareupdater.ini
@@ -0,0 +1,11 @@
+[DRIVERS]
+CFW2 "0"
+CFW2 "1"
+CFW2 "2"
+CFW2 "3"
+CFW2 "4"
+CFW2 "5"
+CFW2 "6"
+CFW2 "7"
+CFW2 "8"
+CFW2 "9"
diff --git a/iCubTemplate_RI/firmwareupdater.ini b/iCubTemplate_RI/firmwareupdater.ini
new file mode 100644
index 0000000000..48ba87e2b8
--- /dev/null
+++ b/iCubTemplate_RI/firmwareupdater.ini
@@ -0,0 +1,11 @@
+[DRIVERS]
+CFW2 "0"
+CFW2 "1"
+CFW2 "2"
+CFW2 "3"
+CFW2 "4"
+CFW2 "5"
+CFW2 "6"
+CFW2 "7"
+CFW2 "8"
+CFW2 "9"
diff --git a/iCubTwente01/firmwareupdater.ini b/iCubTwente01/firmwareupdater.ini
new file mode 100644
index 0000000000..73c39cba7b
--- /dev/null
+++ b/iCubTwente01/firmwareupdater.ini
@@ -0,0 +1,4 @@
+[DRIVERS]
+CFW2 "0"
+CFW2 "9"
+ETH "eth"
diff --git a/iCubUrbana01/firmwareupdater.ini b/iCubUrbana01/firmwareupdater.ini
new file mode 100644
index 0000000000..48ba87e2b8
--- /dev/null
+++ b/iCubUrbana01/firmwareupdater.ini
@@ -0,0 +1,11 @@
+[DRIVERS]
+CFW2 "0"
+CFW2 "1"
+CFW2 "2"
+CFW2 "3"
+CFW2 "4"
+CFW2 "5"
+CFW2 "6"
+CFW2 "7"
+CFW2 "8"
+CFW2 "9"
diff --git a/iCubZurich01/firmwareupdater.ini b/iCubZurich01/firmwareupdater.ini
new file mode 100644
index 0000000000..48ba87e2b8
--- /dev/null
+++ b/iCubZurich01/firmwareupdater.ini
@@ -0,0 +1,11 @@
+[DRIVERS]
+CFW2 "0"
+CFW2 "1"
+CFW2 "2"
+CFW2 "3"
+CFW2 "4"
+CFW2 "5"
+CFW2 "6"
+CFW2 "7"
+CFW2 "8"
+CFW2 "9"