Title: NimbRo-OP2X: Adult-sized Open-source 3D Printed Humanoid Robot,
Abstract: 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
open-source software by a deep-learning based vision system and gait parameter
optimisation. The NimbRo-OP2X was evaluated during RoboCup 2018 in Montréal,
Canada, where it won all possible awards in the Humanoid AdultSize class.