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First International HARTING Open Source Prize Winner: The igus Humanoid Open Platform

  • Philipp Allgeuer
  • Grzegorz Ficht
  • Hafez Farazi
  • Michael Schreiber
  • Sven Behnke
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 9776)

Abstract

The use of standard platforms in the field of humanoid robotics can lower the entry barrier for new research groups, and accelerate research by the facilitation of code sharing. Numerous humanoid standard platforms exist in the lower size ranges of up to 60 cm, but beyond that humanoid robots scale up quickly in weight and price, becoming less affordable and more difficult to operate, maintain and modify. The \(\mathrm{igus}^{{\circledR }}\) Humanoid Open Platform is an affordable, fully open-source platform for humanoid research. At 92 cm, the robot is capable of acting in an environment meant for humans, and is equipped with enough sensors, actuators and computing power to support researchers in many fields. The structure of the robot is entirely 3D printed, leading to a lightweight and visually appealing design. This paper covers the mechanical and electrical aspects of the robot, as well as the main features of the corresponding open-source ROS software. At RoboCup 2016, the platform was awarded the first International HARTING Open Source Prize.

Notes

Acknowledgements

We acknowledge the contributions of \(\mathrm{igus}^{{\circledR }}\) GmbH to the project, in particular the management of Martin Raak towards the robot design and manufacture. This work was partially funded by grant BE 2556/10 of the German Research Foundation (DFG).

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Copyright information

© Springer International Publishing AG 2017

Authors and Affiliations

  • Philipp Allgeuer
    • 1
  • Grzegorz Ficht
    • 1
  • Hafez Farazi
    • 1
  • Michael Schreiber
    • 1
  • Sven Behnke
    • 1
  1. 1.Autonomous Intelligent Systems, Computer ScienceUniversity of BonnBonnGermany

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