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The robot PC can run Linux or Windows.
We developed a ROS-based software framework for the robot providing functionality for hardware abstraction, visual perception, and behavior generation. The framework has been used to implement basic soccer skills.
For the initial release, we developed Linux-based software,
starting from the open-source
software
that Robotis released for DARwIn-OP. This software supports ball
perception, walking, kicking, and
getting-up motions.
We
made the necessary modifications for the NimbRo-OP robot and included
some new features, such as two gait stabilization mechanisms, tilt
estimation, instability detection, and correction for the distortion of
the wide-angle lens.
Please discuss all questions related to the NimbRo-OP robot at
RobotSource.org
.
More recent publications: Here.
Philipp Allgeuer and Sven Behnke:
Fused Angles: A
Representation of Body Orientation for Balance
In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems
(IROS), Hamburg, Germany, September 2015.
Philipp Allgeuer, Marcell Missura and Sven Behnke:
NimbRo TeenSize Team
Description 2015
In: RoboCup Humanoid League Team Descriptions, Hefei,
China, July 2015.
Philipp Allgeuer and Sven Behnke:
Robust Sensor Fusion
for Robot Attitude Estimation
In Proceedings of 14th IEEE-RAS International Conference on Humanoid
Robots (Humanoids), Madrid, Spain, November 2014. [Source
code]
Philipp Allgeuer and Sven Behnke:
Fused
Angles for Body Orientation Representation
In Proceedings of 9th Workshop on Humanoid Soccer Robots,14th IEEE-RAS
International Conference on Humanoid
Robots (Humanoids), Madrid, Spain, November 2014. [Source
code]
Marcell Missura, Philipp Allgeuer, Michael Schreiber, Cedrick
Münstermann, Max Schwarz, Sebastian Schueller, and Sven Behnke
NimbRo TeenSize 2014
Team Description
In: RoboCup Humanoid League Team Descriptions, Joao Pessoa, July 2014.
Philipp Allgeuer, Max Schwarz, Julio Pastrana, Sebastian
Schueller, Marcell Missura and Sven Behnke:
A
ROS-based Software Framework for the NimbRo-OP Humanoid Open Platform
In Proceedings of 8th Workshop on Humanoid Soccer Robots,
IEEE-RAS International Conference on Humanoid Robots (Humanoids),
Atlanta, October
2013.
Philipp Allgeuer and Sven Behnke:
Hierarchical
and State-based Architectures for Robot Behavior Planning
and Control
In Proceedings of 8th Workshop on Humanoid Soccer Robots, IEEE-RAS
International Conference on Humanoid Robots (Humanoids), Atlanta,
October 2013.
Max Schwarz and Sven Behnke:
Compliant
Robot
Behavior using Servo Actuator
Models identified by Iterative Learning Control
In Proceedings of 17th RoboCup International Symposium, Eindhoven,
Netherlands, June
2013.
Max Schwarz, Julio
Pastrana, Philipp Allgeuer, Michael Schreiber, Sebastian
Schueller, Marcell Missura and Sven Behnke:
Humanoid
TeenSize Open Platform NimbRo-OP
In Proceedings of 17th RoboCup International Symposium, Eindhoven,
Netherlands, June
2013.
Max Schwarz, Michael Schreiber, Sebastian Schueller, Marcell
Missura and Sven Behnke:
NimbRo-OP Humanoid
TeenSize Open Platform
In
Proceedings of 7th Workshop on Humanoid Soccer Robots, IEEE-RAS
International Conference on Humanoid Robots, Osaka, November 2013.
Michael Schreiber and Sven Behnke:
Humanoid
TeenSize Open Platform
In Projects for Promoting RoboCup, Mexico City, June 2012.
NimbRo-OP received the HARTING Open-Source Award at RoboCup German Open
2013.
NimbRo-OP was demonstrated at the Robotis booth at the IROS 2012 and Humanoids 2012 exhibitions.
The robot was demonstrated with a first version of the ROS-based software at RoboCup German Open 2013.
We gratefully acknowledge the support of German Research
Foundation under grant BE 2556/10.
We also acknowledge support of RoboCup
Federation
and Robotis
for the first prototoype.
Universität Bonn, Institute for Computer Science, Departments: I, II, III, IV, V, VI
