Humanoid robotics research depends on capable robot platforms, but recently developed advanced platforms are often not available to other research groups, expensive, dangerous to operate, or closed-source. The lack of available platforms forces researchers to work with smaller robots, which have less strict dynamic constraints or with simulations, which lack many real-world effects. We developed NimbRo-OP2X to address this need. At a height of 135 cm our robot is large enough to interact in a human environment. Its low weight of only 19 kg makes the operation of the robot safe and easy, as no special operational equipment is necessary. Our robot is equipped with a fast onboard computer and a GPU to accelerate parallel computations. We extend our already opensource software by a deep-learning based vision system and gait parameter optimisation. The NimbRo-OP2X was evaluated during RoboCup 2018 in Montreál, Canada, where it won all possible awards in the Humanoid AdultSize class.
Purpose of Review As new technological advancements are made, humanoid robots that utilise them are being designed and manufactured. For optimal design choices, a broad overview with insight on the advantages and disadvantages of available technologies is necessary. This article intends to provide an analysis on the established approaches and contrast them with emerging ones. Recent Findings A clear shift in the recent design features of humanoid robots is developing, which is supported by literature. As humanoid robots are meant to leave laboratories and traverse the world, compliance and more efficient locomotion are necessary. The limitations of highly rigid actuation are being tackled by different research groups in unique ways. Some focus on modifying the kinematic structure, while others change the actuation scheme. With new manufacturing capabilities, previously impossible designs are becoming feasible. Summary A comprehensive review on the technologies crucial for bipedal humanoid robots was performed. Different mechanical concepts have been discussed, along with the advancements in actuation, sensing, and manufacturing. The paper is supplemented with a list of the recently developed platforms along with a selection of their specifications.
The versatility of humanoid robots in locomotion, full-body motion, interaction with unmodified human environments, and intuitive human-robot interaction led to increased research interest. Multiple smaller platforms are available for research, but these require a miniaturized environment to interact with-and often the small scale of the robot diminishes the influence of factors which would have affected larger robots. Unfortunately, many research platforms in the larger size range are less affordable, more difficult to operate, maintain and modify, and very often closed-source. In this work, we introduce NimbRo-OP2, an affordable, fully open-source platform in terms of both hardware and software. Being almost 135 cm tall and only 18 kg in weight, the robot is not only capable of interacting in an environment meant for humans, but also easy and safe to operate and does not require a gantry when doing so. The exoskeleton of the robot is 3D printed, which produces a lightweight and visually appealing design. We present all mechanical and electrical aspects of the robot, as well as some of the software features of our well-established open-source ROS software. The NimbRo-OP2 performed at RoboCup 2017 in Nagoya, Japan, where it won the Humanoid League AdultSize Soccer competition and Technical Challenge.
Individual and team capabilities are challenged every year by rule changes and the increasing performance of the soccer teams at RoboCup Humanoid League. For RoboCup 2019 in the AdultSize class, the number of players (2 vs. 2 games) and the field dimensions were increased, which demanded for team coordination and robust visual perception and localization modules. In this paper, we present the latest developments that lead team NimbRo to win the soccer tournament, drop-in games, technical challenges and the Best Humanoid Award of the RoboCup Humanoid League 2019 in Sydney. These developments include a deep learning vision system, in-walk kicks, step-based pushrecovery, and team play strategies.
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