NimbRo-OP2: Grown-up 3D printed open humanoid platform for research

Grzegorz Ficht, Philipp Allgeuer, Hafez Farazi, Sven Behnke
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引用次数: 18

Abstract

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.
NimbRo-OP2:成熟的3D打印开放人形研究平台
人形机器人在运动、全身运动、与未修改的人类环境的交互以及直观的人机交互方面的多功能性引起了越来越多的研究兴趣。有多个小型平台可用于研究,但这些平台需要一个小型化的环境来进行交互,而且通常小型机器人会减少影响大型机器人的因素的影响。不幸的是,许多规模较大的研究平台价格较低,更难以操作、维护和修改,而且往往是闭源的。在这项工作中,我们介绍NimbRo-OP2,这是一个价格合理的,在硬件和软件方面完全开源的平台。身高近135厘米,体重只有18公斤,机器人不仅能够在人类的环境中互动,而且操作简单安全,不需要龙门架。机器人的外骨骼是3D打印的,这产生了一个轻量级和视觉上吸引人的设计。我们展示了机器人的所有机械和电气方面,以及我们完善的开源ROS软件的一些软件功能。NimbRo-OP2在日本名古屋举行的2017年机器人世界杯上进行了表演,并获得了人形联赛成人足球比赛和技术挑战赛的冠军。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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