First International HARTING Open Source Prize Winner: The igus Humanoid Open Platform

TL;DR

The igus Humanoid Open Platform is an affordable, fully open-source, 92cm humanoid robot designed to facilitate research by providing a lightweight, 3D-printed structure with comprehensive sensors, actuators, and ROS software, promoting accessibility and collaboration.

Contribution

This paper introduces a large-scale, open-source humanoid robot platform with a 3D-printed lightweight structure, supporting research in human-scale environments, and details its mechanical, electrical, and software design.

Findings

Awarded the first International HARTING Open Source Prize at RoboCup 2016

Features a fully 3D-printed lightweight structure

Equipped with sensors, actuators, and ROS software for research

Abstract

The use of standard platforms in the field of humanoid robotics can lower the entry barrier for new research groups, and accelerate research by the facilitation of code sharing. Numerous humanoid standard platforms exist in the lower size ranges of up to 60cm, but beyond that humanoid robots scale up quickly in weight and price, becoming less affordable and more difficult to operate, maintain and modify. The igus Humanoid Open Platform is an affordable, fully open-source platform for humanoid research. At 92cm, the robot is capable of acting in an environment meant for humans, and is equipped with enough sensors, actuators and computing power to support researchers in many fields. The structure of the robot is entirely 3D printed, leading to a lightweight and visually appealing design. This paper covers the mechanical and electrical aspects of the robot, as well as the main features of the corresponding open-source ROS software. At RoboCup 2016, the platform was awarded the first International HARTING Open Source Prize.