Title: Child-sized 3D Printed igus Humanoid Open Platform,
Abstract: The use of standard platforms in the field of humanoid robotics can
accelerate research, and lower the entry barrier for new research groups. While
many affordable humanoid standard platforms exist in the lower size ranges of
up to 60cm, beyond this the few available standard platforms quickly become
significantly more expensive, and difficult to operate and maintain. In this
paper, the igus Humanoid Open Platform is presented---a new, affordable,
versatile and easily customisable standard platform for humanoid robots in the
child-sized range. At 90cm, the robot is large enough to interact with a
human-scale environment in a meaningful way, and is equipped with enough torque
and computing power to foster research in many possible directions. The
structure of the robot is entirely 3D printed, allowing for a lightweight and
appealing design. The electrical and mechanical designs of the robot are
presented, and the main features of the corresponding open-source ROS software
are discussed. The 3D CAD files for all of the robot parts have been released
open-source in conjunction with this paper.