Universität Bonn: Autonomous Intelligent Systems Group  igus® Humanoid Open Platform

Brasil vs. Germany NimbRo-OP2 robot at RoboCup 2017 RoboCup 2017 AdultSize Final: NimbRo vs. Sweaty

Concept

 Two generations of igus robots igus Robot Kicking Spontaneous imitation game with igus robot

Team NimbRo wins AdultSize Soccer games, Technical Challenges, and Drop-in Challenge at RoboCup 2022 in Bangkok, Thailand

Our team NimbRo won the RoboCup 2022 Humanoid League AdultSize soccer competition in Bangkok, Tailand. Our robots also won the Drop-in tournament and the Technical Challenges. Consequently, our team came in first in the overall Best-Humanoid ranking. [Press Release]

RoboCup 2022 NimbRo Award Ceremony RoboCup 2022 Humanoid AdultSize TrophyRoboCup 2022 Team NimbRo with Robots

Team NimbRo wins AdultSize Soccer games, Technical Challenges, and Drop-in Challenge at RoboCup 2019 in Sydney, Australia

Our team NimbRo won the RoboCup 2019 Humanoid League AdultSize soccer competition in Sydney, Australia.
Our robots also won the Drop-in tournament and the Technical Challenges. Consequently, our team came in first in the overall Best-Humanoid ranking. [Press release]


Download: RoboCup_2019_Humanoid_League_AdultSize_Winner_NimbRo.mp4

  RoboCup 2019 Final: NimbRo vs. Sweaty RoboCup 2019 Team NimbRo RoboCup 2019 Team NimbRo

Team NimbRo wins AdultSize Soccer games, Technical Challenges, and Drop-in Challenge at RoboCup 2018 in Montreal, Canada

Our team NimbRo won the RoboCup 2018 Humanoid League AdultSize soccer competition in Montreal, Canada.
Our robots also won the Drop-in tournament and the Technical Challenges. Consequently, our team came in first in the overall Best-Humanoid ranking. [Press release]


RoboCup_2018_Humanoid_AdultSize_Soccer_Winner_NimbRo.mp4
Humanoid League AdultSize Final: NimbRo vs. Sweaty Team NimbRo Award Ceremony

Team NimbRo wins both AdultSize and TeenSize Soccer games, Technical Challenges, Drop-in Challenge, Design Award at RoboCup 2017 in Nagoya, Japan

In the AdultSize class, for the first time 1 vs. 1 soccer games were played. The new NimbRo-OP2 robot played very well, scoring 46:1 goals in five games. In TeenSize, the number of players was increased to 3 vs. 3. Our robots scored 27:0 goals in seven games.

RoboCup 2017 TeenSize Final: NimbRo vs.HuroEvolutionTN RoboCup 2017 AdultSize Final: NimbRo vs. Sweaty Team NimbRo Soccer (TeenSize and AdultSize)

igus® Humanoid Open Platform wins First International Harting Open Source Price

The price was awarded at RoboCup 2016 in Leipzig.

Award Ceremony for Harting Open-Source Price Harting Open-Source Award Certificate 

Team NimbRo wins Humanoid TeenSize Soccer at RoboCup 2016 in Leipzig

Together with the refurbished Dynaped, who was also running the ROS-based software, the igus® Humanoid Open Platform robots scored 29:0 goals in five games.

Final game Final game igus robot Team NimbRo

igus® Humanoid Open Platform shown at 21st International Robot Exhibition (iRex) in Tokyo

igus robot at iRex igus robot at iRex igus robot at iRex

igus® Humanoid Open Platform Receives Design Award at RoboCup 2015 in Heifei, China

22.7.2015

Our Team NimbRo TeenSize participated in the RoboCup 2015 Competition in Hefei, China.

The igus® Humanoid Open Platform robot, which we develop together with igus® GmbH, won the first RoboCup Design Award.

igus robot vs. AUT UofM igus robot getting up igus robot vs. AUT UofM igus robot dribblingigus robot igus robot dribbling Team NimbRo TeenSize at RoboCup 2015 RoboCup Design Award

igus® Humanoid Open Platform demonstrated at RoboCup German Open 2015

Hafez and Philipp with igus Humanoid Open Platform robots Walking demonstration Getting up demonstration

igus® Humanoid Open Platform displayed at RoboCup German Open 2014 and Hannover Messe 2014

igus Humanoid Open Platform igus Humanoid Open Platform igus Humanoid Open Platform igus Humanoid Open Platform  Download flyer...


Software

The robot PC can run Linux or Windows.

We developed a ROS-based software framework for the robot providing functionality for hardware abstraction, visual perception, and behavior generation. The framework has been used to implement basic soccer skills.


Download

Availability

Please contact Martin Raak of igus® GmbH for pricing on the complete set of 3D printed parts of the igus® Humanoid Open Platform: Contact form
 

Community

Please discuss all questions related to robot at RobotSource.org .
 

Publications

Dmytro Pavlichenko, Grzegorz Ficht, Arash Amini, Mojtaba Hosseini, Raphael Memmesheimer, Angel Villar-Corrales, Stefan M. Schulz, Marcell Missura, Maren Bennewitz, and Sven Behnke:
RoboCup 2022 AdultSize Winner NimbRo: Upgraded Perception, Capture Steps Gait and Phase-based In-walk Kicks
Accepted for RoboCup 2022: Robot World Cup XXV, LNCS 13561, Springer, to appear May 2023.

Grzegorz Ficht and Sven Behnke:
Direct Centroidal Control for Balanced Humanoid Locomotion
In Proceedings of 25th International Conference on Climbing and Walking Robots (CLAWAR), Ponta Delgada, Azores, Portugal, September 2022.
Runner-up Best Technical Paper Award.
[Video]

Andre Brandenburger, Diego Rodriguez, and Sven Behnke:
Mapless Humanoid Navigation Using Learned Latent Dynamics
In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Prague, Czech Republic, September 2021.
[Video]

Grzegorz Ficht and Sven Behnke:
Bipedal Humanoid Hardware Design: A Technology Review
Current Robotics Reports 2, 201–210, Springer, 2021.

Grzegorz Ficht, Hafez Farazi, Diego Rodriguez, Dmytro Pavlichenko, Philipp Allgeuer, André Brandenburger, and Sven Behnke
NimbRo-OP2X: Affordable Adult-sized 3D-printed Open-Source Humanoid Robot for Research
International Journal of Humanoid Robotics (IJHR), vol. 17, no. 05, 2050021, 2020.

Grzegorz Ficht and Sven Behnke :
Fast Whole-Body Motion Control of Humanoid Robots with Inertia Constraints
In Proceedings of IEEE International Conference on Robotics and Automation (ICRA), Paris, France, May 2020.
[Video]

Marcell Missura, Maren Bennewitz, and Sven Behnke:
Capture Steps: Robust Walking for Humanoid Robots
International Journal of Humanoid Robotics (IJHR) 16(6):1950032:1-1950032:28, World Scientific, 2019.
[Video]

Diego Rodriguez, Hafez Farazi, Grzegorz Ficht, Dmytro Pavlichenko, André Brandenburger, Mojtaba Hosseini, Oleg Kosenko, Michael Schreiber, Marcel Missura, and Sven Behnke:
RoboCup 2019 AdultSize Winner NimbRo: Deep Learning Perception, In-Walk Kick, Push Recovery, and Team Play Capabilities
In: RoboCup 2019, Robot World Cup XXIII. LNCS 11531, pp. 631-645, Springer, 2019.

Hafez Farazi, Grzegorz Ficht, Philipp Allgeuer, Dmytro Pavlichenko, Diego Rodriguez, André Brandenburger, Mojtaba Hosseini, and Sven Behnke:
NimbRo Robots Winning RoboCup 2018 Humanoid AdultSize Soccer Competitions
In: RoboCup 2018: Robot World Cup XXII. LNCS 11374, pp 436-449. Springer, 2019.

Diego Rodriguez, Hafez Farazi, Grzegorz Ficht, Dmytro Pavlichenko, Andre Brandenburger, Mojtaba Hosseini and Sven Behnke
NimbRo AdultSize Team Description Paper 2019
In RoboCup Humanoid League Team Descriptions, Sydney, Australia, July 2019

Grzegorz Ficht, Hafez Farazi, Andre Brandenburger, Diego Rodriguez, Dmytro Pavlichenko, Philipp Allgeuer, Mojtaba Hosseini, and Sven Behnke:
NimbRo-OP2X: Adult-sized Open-source 3D Printed Humanoid Robot
In Proceedings of IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), Beijing, China, November 2018.
[Hardware] [Software]

Grzegorz Ficht and Sven Behnke:
Online Balanced Motion Generation for Humanoid Robots
In Proceedings of IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), Beijing, China, November 2018.

Philipp Allgeuer and Sven Behnke:
Bipedal Walking with Corrective Actions in the Tilt Phase Space
In Proceedings of IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), Beijing, China, November 2018.

Philipp Allgeuer and Sven Behnke:
Tilt Rotations and the Tilt Phase Space
In Proceedings of IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), Beijing, China, November 2018.

Diego Rodriguez, André Brandenburger, and Sven Behnke:
Combining Simulations and Real-robot Experiments for Bayesian Optimization of Bipedal Gait Stabilization
In Proceedings of 22nd RoboCup International Symposium, Montreal, Canada, June 2018.

Grzegorz Ficht, Dmytro Pavlichenko, Philipp Allgeuer, Hafez Farazi, Diego Rodriguez, André Brandenburger, Johannes Kürsch, Michael Schreiber, and Sven Behnke:
Grown-up NimbRo Robots Winning RoboCup 2017 Humanoid AdultSize Soccer Competitions
In RoboCup 2017: Robot World Cup XXI, LNCS 11175, pp. 448-460, Springer, 2018.

Diego Rodriguez, Hafez Farazi, Philipp Allgeuer, Grzegorz Ficht, Dmytro Pavlichenko, André Brandenburger, Johannes Kürsch, and Sven Behnke:
Advanced Soccer Skills and Team Play of RoboCup 2017 TeenSize Winner NimbRo
In RoboCup 2017: Robot World Cup XXI, LNCS 11175, pp. 435-447, Springer, 2018.

Grzegorz Ficht, Philipp Allgeuer, Hafez Farazi, and Sven Behnke:
NimbRo-OP2: Grown-up 3D Printed Open Humanoid Platform for Research
In Proceedings of IEEE-RAS International Conference on Humanoid Robots (Humanoids), Birmingham, UK, November 2017.
[Video] [CAD Release] [Software]

Hafez Farazi and Sven Behnke:
Online Visual Robot Tracking and Identification using Deep LSTM Networks
In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, Canada, September 2017.
RoboCup Best Paper Award.
[Video]

Hafez Farazi, Philipp Allgeuer, Grzegorz Ficht, André Brandenburger, Dmytro Pavlichenko, Michael Schreiber, and Sven Behnke:
RoboCup 2016 Humanoid TeenSize Winner NimbRo: Robust Visual Perception and Soccer Behaviors
In: RoboCup 2016: Robot World Cup XX, LNCS 9776, pp. 478-490, Springer, 2017.

Philipp Allgeuer, Grzegorz Ficht, Hafez Farazi, Michael Schreiber, and Sven Behnke:
First International HARTING Open Source Prize Winner: The igus Humanoid Open Platform
In: RoboCup 2016: Robot World Cup XX, LNCS 9776, pp. 625-633, Springer, 2017.

Philipp Allgeuer and Sven Behnke:
Omnidirectional Bipedal Walking with Direct Fused Angle Feedback Mechanisms
In Proceedings of IEEE-RAS International Conference on Humanoid Robots (Humanoids), Cancun, Mexico, November 2016.
[Video]

Philipp Allgeuer, Hafez Farazi, Grzegorz Ficht, Michael Schreiber, and Sven Behnke:
The igus Humanoid Open Platform: A Child-sized 3D Printed Open-Source Robot for Research
German Journal on Artificial Intelligence (KI), volume 30, issue 3-4, pp. 315-319, 2016.

Hafez Farazi and Sven Behnke:
Real-Time Visual Tracking and Identification for a Team of Homogeneous Humanoid Robots
In Proceedings of 20th RoboCup International Symposium, Leipzig, Germany, July 2016.

Philipp Allgeuer, Hafez Farazi, Michael Schreiber, and Sven Behnke:
Child-sized 3D Printed igus Humanoid Open Platform
In Proceedings of IEEE-RAS International Conference on Humanoid Robots (Humanoids), Seoul, Korea, November 2015.

Hafez Farazi, Philipp Allgeuer, and Sven Behnke:
A Monocular Vision System for Playing Soccer in Low Color Information Environments
In Proceedings of 10th Workshop on Humanoid Soccer Robots, IEEE-RAS International Conference on Humanoid Robots (Humanoids), Seoul, Korea, November 2015.

Philipp Allgeuer and Sven Behnke:
Fused Angles: A Representation of Body Orientation for Balance
In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, September 2015.

Philipp Allgeuer, Marcell Missura and Sven Behnke:
NimbRo TeenSize Team Description 2015
In: RoboCup Humanoid League Team Descriptions, Hefei, China, July 2015.

Philipp Allgeuer and Sven Behnke:
Robust Sensor Fusion for Robot Attitude Estimation
In Proceedings of 14th IEEE-RAS International Conference on Humanoid Robots (Humanoids), Madrid, Spain, November 2014.[Source code]

Philipp Allgeuer and Sven Behnke:
Fused Angles for Body Orientation Representation
In Proceedings of 9th Workshop on Humanoid Soccer Robots,14th IEEE-RAS International Conference on Humanoid Robots (Humanoids), Madrid, Spain, November 2014. [Source code]

Marcell Missura, Philipp Allgeuer, Michael Schreiber, Cedrick Münstermann, Max Schwarz, Sebastian Schueller, and Sven Behnke
NimbRo TeenSize 2014 Team Description
In: RoboCup Humanoid League Team Descriptions, Joao Pessoa, July 2014.

Philipp Allgeuer, Max Schwarz, Julio Pastrana, Sebastian Schueller, Marcell Missura and Sven Behnke:
A ROS-based Software Framework for the NimbRo-OP Humanoid Open Platform

In Proceedings of 8th Workshop on Humanoid Soccer Robots, IEEE-RAS International Conference on Humanoid Robots (Humanoids), Atlanta, October 2013.

Philipp Allgeuer and Sven Behnke:
Hierarchical and State-based Architectures for Robot Behavior Planning and Control
In Proceedings of 8th Workshop on Humanoid Soccer Robots, IEEE-RAS International Conference on Humanoid Robots (Humanoids), Atlanta, October 2013.

Max Schwarz and Sven Behnke:
Compliant Robot Behavior using Servo Actuator Models identified by Iterative Learning Control
In Proceedings of 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
In Proceedings of 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 2012.

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


1st Prototype: NimbRo-OP

Acknowledgement

We gratefully acknowledge the support of German Research Foundation under grant BE 2556/10.


Universität Bonn, Institute for Computer Science, Departments: I, II, III, IV, V, VI; Team NimbRo; Robotics in Bonn