2018/09/28 by Philipp Allgeuer, Grzegorz Ficht, Allgeuer, Philipp +7
Computer Science · Engineering · #Biomedical and Engineering Education #Context-Aware Activity Recognition Systems #FOS: Computer and information sciences #Robotic Locomotion and Control #Robotics (cs.RO)
paper · pdf · doi:10.48550/arxiv.1810.00948
openalex publication_date 2018/09/28 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
The use of standard platforms in the field of humanoid robotics can lower the\nentry barrier for new research groups, and accelerate research by the\nfacilitation of code sharing. Numerous humanoid standard platforms exist in the\nlower size ranges of up to 60cm, but beyond that humanoid robots scale up\nquickly in weight and price, becoming less affordable and more difficult to\noperate, maintain and modify. The igus Humanoid Open Platform is an affordable,\nfully open-source platform for humanoid research. At 92cm, the robot is capable\nof acting in an environment meant for humans, and is equipped with enough\nsensors, actuators and computing power to support researchers in many fields.\nThe structure of the robot is entirely 3D printed, leading to a lightweight and\nvisually appealing design. This paper covers the mechanical and electrical\naspects of the robot, as well as the main features of the corresponding\nopen-source ROS software. At RoboCup 2016, the platform was awarded the first\nInternational HARTING Open Source Prize.\n