NimbRo-OP2X: Adult-sized Open-source 3D Printed Humanoid Robot

TL;DR

The paper introduces NimbRo-OP2X, a large, open-source, 3D-printed humanoid robot designed for research, featuring advanced onboard computing and vision, successfully demonstrated at RoboCup 2018.

Contribution

It presents a new adult-sized, open-source humanoid robot platform with integrated deep learning vision and gait optimization, accessible for research and education.

Findings

Won all awards at RoboCup 2018 Humanoid AdultSize class.

Demonstrated effective deep-learning vision system.

Validated gait optimization in real-world scenarios.

Abstract

Humanoid robotics research depends on capable robot platforms, but recently developed advanced platforms are often not available to other research groups, expensive, dangerous to operate, or closed-source. The lack of available platforms forces researchers to work with smaller robots, which have less strict dynamic constraints or with simulations, which lack many real-world effects. We developed NimbRo-OP2X to address this need. At a height of 135 cm our robot is large enough to interact in a human environment. Its low weight of only 19 kg makes the operation of the robot safe and easy, as no special operational equipment is necessary. Our robot is equipped with a fast onboard computer and a GPU to accelerate parallel computations. We extend our already open-source software by a deep-learning based vision system and gait parameter optimisation. The NimbRo-OP2X was evaluated during RoboCup 2018 in Montr\'eal, Canada, where it won all possible awards in the Humanoid AdultSize class.