Nimbro-Op2x: Affordable Adult-Sized 3d-Printed Open-Source Humanoid Robot For Research

For several years, high development and production costs of humanoid robots restricted researchers interested in working in the overline eld. To overcome this problem, several research groups have opted to work with simulated or smaller robots, whose acquisition costs are signi overline cantly lower. However, due to scale di (R) erences and imperfect simulation replicability, results may not be directly reproducible on real, adult-sized robots. In this paper, we present the NimbRoOP2X, a capable and a (R) ordable adult-sized humanoid platform aiming to signi overline cantly lower the entry barrier for humanoid robot research. With a height of 135 cm and weight of only 19 kg, the robot can interact in an unmodi overline ed, human environment without special safety equipment. Modularity in hardware and software allows this platform enough degrees exibility to operate in di (R) erent scenarios and applications with minimal e (R) ort. The robot is equipped with an on-board computer with GPU, which enables the implementation of state-of-the-art approaches for object detection and human perception demanded by areas such as manipulation and humanrobot interaction. Finally, the capabilities of the NimbRo-OP2X, especially in terms of locomotion stability and visual perception, are evaluated. This includes the performance at RoboCup 2018, where NimbRo-OP2X won all possible awards in the AdultSize class.