HARTING Open-Source Award

NimbRo-OP received the HARTING Open-Source Award at RoboCup German Open 2013.

Concept

• Modular, open-source humanoid robot for research.
• Size compatible with RoboCup Humanoid League TeenSize class.

Hardware Specifications

Height: 95cm Weight: 6.6kg 20 networked actuators (Robotis Dynamixel) 6 per leg (MX-106) 3 per arm (MX-64) 2 in the neck (MX-64) Dual-Core PC (Zotac ZBOX nano XS) AMD E-450 processor (2x1.65GHz)  2GB RAM, 64GB SSD USB 3.0, HDMI, Gigabit Ethernet Memory card slot WiFi: IEEE 802.11b/g/n Wide-angle camera (Logitech C905) Inertial sensors (in Robotis CM-730 controller) 3-axis accelerometer 3-axis gyro Battery: Lithium polymer 14.8V, 3.6Ah Materials: Carbon composite, aluminum, ABSplus

Software

The robot PC can run Linux or Windows.
We developed Linux-based software, starting from the open-source software that Robotis released for DARwIn-OP.
This software supports ball perception, walking, kicking, and getting-up motions.
We made the necessary modifications for the NimbRo-OP robot and included some new features, such as two gait stabilization mechanisms, tilt estimation, instability detection, and correction for the distortion of the wide-angle lens.

Availability

Fully assembled and tested robot prototypes can be ordered for a price of 22.000€ plus tax and shipping from University of Bonn.
Please contact: sales @ ais.uni-bonn.de.
 

Video

Download

• Hardware CAD files and software sources: Github
   
  
• Direct link to archive: Download ZIP
   
  

Community

Please discuss all questions related to the NimbRo-OP robot at RobotSource.org .
 

Publications

Max Schwarz, Michael Schreiber, Sebastian Schueller, Marcell Missura and Sven Behnke:
NimbRo-OP Humanoid TeenSize Open Platform
In Proceedings of 7th Workshop on Humanoid Soccer Robots, IEEE-RAS International Conference on Humanoid Robots, Osaka, November 2013.

Michael Schreiber and Sven Behnke:
Humanoid TeenSize Open Platform
In Projects for Promoting RoboCup, Mexico City, June 2012.

Demonstrations

NimbRo-OP was demonstrated at the Robotis booth at the IROS 2012 and Humanoids 2012 exhibitions.

The robot was demonstrated with a first version of the ROS-based software at RoboCup German Open 2013.

 

Acknowledgement

We gratefully acknowledge the support of RoboCup Federation and Robotis.

 

Universität Bonn, Institute for Computer Science, Departments: I, II, III, IV, V, VI