Concept

Modular, open-source humanoid robot for research and education.

ROS-based software.

Suitable for RoboCup Humanoid Soccer

igus® Humanoid Open Platform: Size compatible with RoboCup Humanoid League TeenSize and KidSize classes





NimbRo-OP2(X): Size compatible with RoboCup Humanoid League AdultSize and TeenSize classes



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.

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

The price was awarded at RoboCup 2016 in Leipzig.

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.

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

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® Humanoid Open Platform demonstrated at RoboCup German Open 2015

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

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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

ROS-based software: Github



Hardware CAD files of the NimbRo-OP2 robot: Github





Hardware CAD files and initial software sources of the igus Humanoid Open Platform Robot: Github





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

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

Accepted for International Journal of Humanoid Robotics (IJHR), to appear 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

Accepted for International Journal of Humanoid Robotics (IJHR), World Scientific, to appear 2020.

[Video]

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.





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