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 and Sven Behnke:
Compliant Robot Behavior using Servo Actuator Models identified by Iterative Learning Control
Accepted for 17th RoboCup International Symposium, Eindhoven, Netherlands, June 2013.

Max Schwarz, Julio Pastrana, Philipp Allgeuer, Michael Schreiber, Sebastian Schueller, Marcell Missura and Sven Behnke:
Humanoid TeenSize Open Platform NimbRo-OP
Accepted for 17th RoboCup International Symposium, Eindhoven, Netherlands, June 2013.

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