Do I need to be a member of iOS Developers program to develop and install an app on my iPad? Do I need to be a member of iOS Developers program to develop and install an app on my iPad ?

Or can I just run Xcode and specify the device on which to install it ?
UPDATE: With XCode 7 it is now possible to deploy an app on your own iOS9+ device for free. Only if you need to publish your app to the AppleStore will you need the paid membership. See qqbenq's answer for more details.

Without being a member, you can only run your app in the simulator. You must be a paid member to be able to install the app on a device.

Free:


  Start developing for iOS and Mac OS X with the Xcode IDE, Dashcode, Instruments, Interface Builder, iOS Simulator and a suite of additional developer tools.


Paid:


  Test and debug your code on iPad, iPhone and iPod touch to finalize your applications.