Universität Bonn: Autonomous Intelligent Systems Group  NimbRo-OP Humanoid TeenSize Open Platform

Concept

Brasil vs. Germany Two generations of igus robots

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...

Hardware Specifications of 1st Prototype

NimbRo-OP robot

  • 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

NimbRo-OP robot

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.

For the initial release, 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

Community

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

Publications

Philipp Allgeuer and Sven Behnke:
Fused Angles: A Representation of Body Orientation for Balance
Accepted for IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, to appear 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 2013.

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

HARTING Open-Source Award

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

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.

 NimbRo-OP demonstration at IROS 2012 NimbRo-OP demonstration at RoboCup German Open 2013

Acknowledgement

We gratefully acknowledge the support of German Research Foundation under grant BE 2556/10.
We also acknowledge support of RoboCup Federation and Robotis for the first prototoype.

NimbRo-OP robot on soccer field   NimbRo-OP robot on soccer field

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