Humanoid TeenSize Open Platform NimbRo-OP

TL;DR

This paper introduces NimbRo-OP, an affordable, open-source TeenSize humanoid robot platform designed for research, featuring easy assembly, ROS software, and capabilities like dynamic walking and kicking to advance larger humanoid robotics.

Contribution

It presents the first hardware and software release of a low-cost TeenSize humanoid robot platform for research and development.

Findings

First open platform for TeenSize humanoids

Supports full-body motions like walking and kicking

ROS-based software development underway

Abstract

In recent years, the introduction of affordable platforms in the KidSize class of the Humanoid League has had a positive impact on the performance of soccer robots. The lack of readily available larger robots, however, severely affects the number of participants in Teen- and AdultSize and consequently the progress of research that focuses on the challenges arising with robots of larger weight and size. This paper presents the first hardware release of a low cost Humanoid TeenSize open platform for research, the first software release, and the current state of ROS-based software development. The NimbRo-OP robot was designed to be easily manufactured, assembled, repaired, and modified. It is equipped with a wide-angle camera, ample computing power, and enough torque to enable full-body motions, such as dynamic bipedal locomotion, kicking, and getting up.