Child-sized 3D printed igus humanoid open platform

Allgeuer, Philipp; Farazi, Hafez; Schreiber, Michael; Behnke, Sven

doi:10.1109/humanoids.2015.7363519

Cited by 42 publications

(27 citation statements)

References 9 publications

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“…In our experiments, we used two igus Humanoid Open Platform robots [2]. Each of them is equipped with a dual-core i7-4500U 2.4 GHz processor and a 720p Logitech C905 USB camera.…”

Section: Resultsmentioning

confidence: 99%

Real-Time Visual Tracking and Identification for a Team of Homogeneous Humanoid Robots

Farazi

Behnke

2017

Lecture Notes in Computer Science

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The use of a team of humanoid robots to collaborate in completing a task is an increasingly important field of research. One of the challenges in achieving collaboration, is mutual identification and tracking of the robots. This work presents a real-time vision-based approach to the detection and tracking of robots of known appearance, based on the images captured by a stationary robot. A Histogram of Oriented Gradients descriptor is used to detect the robots and the robot headings are estimated by a multiclass classifier. The tracked robots report their own heading estimate from magnetometer readings. For tracking, a cost function based on position and heading is applied to each of the tracklets, and a globally optimal labeling of the detected robots is found using the Hungarian algorithm. The complete identification and tracking system was tested using two igus Humanoid Open Platform robots on a soccer field. We expect that a similar system can be used with other humanoid robots, such as Nao and DARwIn-OP.

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“…In our experiments, we used two igus Humanoid Open Platform robots [2]. Each of them is equipped with a dual-core i7-4500U 2.4 GHz processor and a 720p Logitech C905 USB camera.…”

Section: Resultsmentioning

confidence: 99%

Real-Time Visual Tracking and Identification for a Team of Homogeneous Humanoid Robots

Farazi

Behnke

2017

Lecture Notes in Computer Science

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“…The proposed gait has been implemented and evaluated experimentally on four igus Humanoid Open Platform robots [18], and for cross-validation also on the humanoid robot Dynaped. The latter is dynamically quite different from the igus robots, but was able to use essentially the same gains matrix K a .…”

Section: Resultsmentioning

confidence: 99%

Omnidirectional bipedal walking with direct fused angle feedback mechanisms

Allgeuer

Behnke

2016

2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids)

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An omnidirectional closed-loop gait based on the direct feedback of orientation deviation estimates is presented in this paper. At the core of the gait is an open-loop central pattern generator. The orientation feedback is derived from a 3D nonlinear attitude estimator, and split into the relevant angular deviations in the sagittal and lateral planes using the concept of fused angles. These angular deviations from expected are used by a number of independent feedback mechanisms, including one that controls timing, to perform stabilising corrective actions. The tuning of the feedback mechanisms is discussed, including an LQR-based approach for tuning the transient sagittal response. The actuator control scheme and robot pose representations in use are also addressed. Experimental results on an igus Humanoid Open Platform demonstrate the core concept of this paper, that if the sensor management and feedback chains are carefully constructed, comparatively simple model-free and robot-agnostic feedback mechanisms can successfully stabilise a generic bipedal gait.

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“…Minimising the effort required to produce and assemble a large, customisable humanoid robot has been our goal ever since our collaboration with igus GmbH on their Humanoid Open Platform [16]. The NimbRo-OP2 was a considerable advancement in this regard, however there were some issues that were left unaddressed.…”

Section: Design Optimisationsmentioning

confidence: 99%

NimbRo-OP2X: Adult-Sized Open-Source 3D Printed Humanoid Robot

Ficht

Farazi

Brandenburger

et al. 2018

2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)

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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.

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Child-sized 3D printed igus humanoid open platform

Cited by 42 publications

References 9 publications

Real-Time Visual Tracking and Identification for a Team of Homogeneous Humanoid Robots

Real-Time Visual Tracking and Identification for a Team of Homogeneous Humanoid Robots

Omnidirectional bipedal walking with direct fused angle feedback mechanisms

NimbRo-OP2X: Adult-Sized Open-Source 3D Printed Humanoid Robot

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