NimbRo-OP: Unterschied zwischen den Versionen

Aktuelle Version vom 10. April 2019, 12:48 Uhr

	NimbRo-OP Basic Data Category: Robotics URL (first publication): http://www.nimbro.net/OP/ License: Project status: Technical documentation Maturity of the project: no no no Other Assembly instructions are editable: Bill of materials is editable: Design files are in original format: No Free redistribution is allowed licence: No Project management Open-o-meter: 0 Product category: Toys & Games Contains original non-electronic hardware: Contains original electronic hardware: Contains original software:

Description

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.

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Public cad repository for non-electronic hardware
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 {{Projekt
 |projectname=NimbRo-OP
-|subcat=Robotik
+|kewords_de=Roboter
+|kewords_en=robot
+|kewords_es=robot
+|subcat=Robotics
 |Images={{ProjektImages
 |projectimage=107.1.jpg
@@ Zeile 14: / Zeile 17: @@
 }}
 |firstin=http://www.nimbro.net/OP/
-|desc=<div><h3>Concept</h3><ul><li>ROS-based software.</li><li>Suitable for RoboCup Humanoid Soccer</li><ul><li>igus® Humanoid Open Platform: Size compatible with RoboCup Humanoid League TeenSize and KidSize classes</li><br/><li>NimbRo-OP2(X): Size compatible with RoboCup Humanoid League AdultSize and TeenSize classes</li></ul></ul><br/><br/><h3>Team NimbRo wins both AdultSize and TeenSize Soccer games, Technical Challenges, Drop-in Challenge, Design Award at RoboCup 2017 in Nagoya, Japan</h3><br/><p>In the AdultSize class, for the first time 1 vs. 1 soccer games were played. The new NimbRo-OP2 robot played very well, scoring 46:1 goals in five games. In TeenSize, the number of players was increased to 3 vs. 3. Our robots scored 27:0 goals in seven games.</p><br/><h3>igus® Humanoid Open Platform wins First International Harting Open Source Price</h3><p>The price was awarded at RoboCup 2016 in Leipzig.</p><br/><h3>Team NimbRo wins Humanoid TeenSize Soccer at RoboCup 2016 in Leipzig</h3><p>Together with the refurbished Dynaped, who was also running the ROS-based software, the igus® Humanoid Open Platform robots scored 29:0 goals in five games.</p><br/><h3>igus® Humanoid Open Platform shown at 21st International Robot Exhibition (iRex) in Tokyo</h3><br/><h3>igus® Humanoid Open Platform Receives Design Award at RoboCup 2015 in Heifei, China</h3><p>22.7.2015</p><p>Our Team NimbRo TeenSize participated in the .<br/><br/>The igus® Humanoid Open Platform robot, which we develop together with igus® GmbH, won the first .</p><h3>igus® Humanoid Open Platform demonstrated at RoboCup German Open 2015</h3><br/><h3>igus® Humanoid Open Platform displayed at RoboCup German Open 2014 and Hannover Messe 2014</h3><br/><br/><h3>Software</h3><p>The robot PC can run Linux or Windows.</p><p>We developed a for the robot providing functionality for hardware abstraction, visual perception, and behavior generation. The framework has been used to implement basic soccer skills.</p><br/><h3>Download</h3><ul><li>ROS-based software:</li><br/><li>Hardware CAD files of the NimbRo-OP2 robot:</li><br/><br/><li>Hardware CAD files and initial software sources of the igus Humanoid Open Platform Robot:</li></ul><br/><br/><h3>Availability</h3><p>Please contact Martin Raak of igus® GmbH for pricing on the complete set of 3D printed parts of the igus® Humanoid Open Platform:</p><br/><h3>Community</h3><p>Please discuss all questions related to robot at .</p><br/><h3>Publications</h3><p>Grzegorz Ficht, Hafez Farazi, Andre Brandenburger, Diego Rodriguez, Dmytro Pavlichenko, Philipp Allgeuer, Mojtaba Hosseini, and Sven Behnke:<br/>NimbRo-OP2X: Adult-sized Open-source 3D Printed Humanoid Robot<br/>Accepted for IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), Beijing, China, to appear November 2018.</p><br/><p>Grzegorz Ficht and Sven Behnke:<br/>Online Balanced Motion Generation for Humanoid Robots<br/>Accepted for IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), Beijing, China, to appear November 2018.</p><p>Philipp Allgeuer and Sven Behnke:<br/>Bipedal Walking with Corrective Actions in the Tilt Phase Space<br/>Accepted for IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), Beijing, China, to appear November 2018.</p><p>Diego Rodriguez, André Brandenburger, and Sven Behnke:<br/><br/>In Proceedings of 22nd RoboCup International Symposium, Montreal, Canada, June 2018.</p><p>Grzegorz Ficht, Dmytro Pavlichenko, Philipp Allgeuer, Hafez Farazi, Diego Rodriguez, André Brandenburger, Johannes Kürsch, Michael Schreiber, and Sven Behnke:<br/><br/>In RoboCup 2017: Robot World Cup XXI, LNCS 11175, pp. 448-460, Springer, 2018.</p><p>Diego Rodriguez, Hafez Farazi, Philipp Allgeuer, Grzegorz Ficht, Dmytro Pavlichenko, André Brandenburger, Johannes Kürsch, and Sven Behnke:<br/><br/>In RoboCup 2017: Robot World Cup XXI, LNCS 11175, pp. 435-447, Springer, 2018.</p><p>Grzegorz Ficht, Philipp Allgeuer, Hafez Farazi, and Sven Behnke:<br/><br/>In Proceedings of IEEE-RAS International Conference on Humanoid Robots (Humanoids), Birmingham, UK, November 2017.</p><br/><p>Hafez Farazi and Sven Behnke:<br/><br/>In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, Canada, September 2017.<br/>RoboCup Best Paper Award.</p><br/><p>Hafez Farazi, Philipp Allgeuer, Grzegorz Ficht, André Brandenburger, Dmytro Pavlichenko, Michael Schreiber, and Sven Behnke:<br/><br/>In: RoboCup 2016: Robot World Cup XX, LNCS 9776, pp. 478-490, Springer, 2017.</p><p>Philipp Allgeuer, Grzegorz Ficht, Hafez Farazi, Michael Schreiber, and Sven Behnke:<br/><br/>In: RoboCup 2016: Robot World Cup XX, LNCS 9776, pp. 625-633, Springer, 2017.</p><p>Philipp Allgeuer and Sven Behnke:<br/><br/>In Proceedings of IEEE-RAS International Conference on Humanoid Robots (Humanoids), Cancun, Mexico, November 2016.</p><br/><p>Philipp Allgeuer, Hafez Farazi, Grzegorz Ficht, Michael Schreiber, and Sven Behnke:<br/><br/>German Journal on Artificial Intelligence (KI), volume 30, issue 3-4, pp. 315-319, 2016.</p><p>Hafez Farazi and Sven Behnke:<br/><br/>In Proceedings of 20th RoboCup International Symposium, Leipzig, Germany, July 2016.</p><p>Philipp Allgeuer, Hafez Farazi, Michael Schreiber, and Sven Behnke:<br/><br/>In Proceedings of IEEE-RAS International Conference on Humanoid Robots (Humanoids), Seoul, Korea, November 2015.</p><p>Hafez Farazi, Philipp Allgeuer, and Sven Behnke:<br/><br/>In Proceedings of 10th Workshop on Humanoid Soccer Robots, IEEE-RAS International Conference on Humanoid Robots (Humanoids), Seoul, Korea, November 2015.</p><p>Philipp Allgeuer and Sven Behnke:<br/><br/>In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, September 2015.</p><p>Philipp Allgeuer, Marcell Missura and Sven Behnke:<br/><br/>In: RoboCup Humanoid League Team Descriptions, Hefei, China, July 2015.</p><p>Philipp Allgeuer and Sven Behnke:<br/><br/>In Proceedings of 14th IEEE-RAS International Conference on Humanoid Robots (Humanoids), Madrid, Spain, November 2014.</p><p>Philipp Allgeuer and Sven Behnke:<br/><br/>In Proceedings of 9th Workshop on Humanoid Soccer Robots,14th IEEE-RAS International Conference on Humanoid Robots (Humanoids), Madrid, Spain, November 2014. (</p><p>Marcell Missura, Philipp Allgeuer, Michael Schreiber, Cedrick Münstermann, Max Schwarz, Sebastian Schueller, and Sven Behnke<br/><br/>In: RoboCup Humanoid League Team Descriptions, Joao Pessoa, July 2014.</p><p>Philipp Allgeuer, Max Schwarz, Julio Pastrana, Sebastian Schueller, Marcell Missura and Sven Behnke:<br/>In Proceedings of 8th Workshop on Humanoid Soccer Robots, IEEE-RAS International Conference on Humanoid Robots (Humanoids), Atlanta, October 2013.</p><p>Philipp Allgeuer and Sven Behnke:<br/><br/>In Proceedings of 8th Workshop on Humanoid Soccer Robots, IEEE-RAS International Conference on Humanoid Robots (Humanoids), Atlanta, October 2013.</p><p>Max Schwarz and Sven Behnke:<br/><br/>In Proceedings of 17th RoboCup International Symposium, Eindhoven, Netherlands, June 2013.</p><p>Max Schwarz, Julio Pastrana, Philipp Allgeuer, Michael Schreiber, Sebastian Schueller, Marcell Missura and Sven Behnke:<br/><br/>In Proceedings of 17th RoboCup International Symposium, Eindhoven, Netherlands, June 2013.</p><p>Max Schwarz, Michael Schreiber, Sebastian Schueller, Marcell Missura and Sven Behnke:<br/><br/>In Proceedings of 7th Workshop on Humanoid Soccer Robots, IEEE-RAS International Conference on Humanoid Robots, Osaka, November 2012.</p><p>Michael Schreiber and Sven Behnke:<br/><br/>In Projects for Promoting RoboCup, Mexico City, June 2012.</p><br/><br/><h3>1st Prototype:</h3><br/><h3>Acknowledgement</h3><p>We gratefully acknowledge the support of German Research Foundation under grant BE 2556/10.</p></div>
+|licence=CC BY-NC
+|typeproject=TUBerlin
 |lang=English
-|typeproject=TUBerlin
 |project_status=Active
 |maturity=production / DIY
+|cad_files_editable=Yes
+|assembly_instructions_editable=No
+|bill_materials_editable=No
+|free_redist_allowed_licence=Yes
 |open_o_meter=3
 |product_category=Toys & Games
@@ Zeile 24: / Zeile 31: @@
 |original_elect_h=No
 |original_soft=No
-|cad_files_editable=Yes
+|desc=The robot PC can run Linux or Windows.
-|assembly_instructions_editable=No
-|bill_materials_editable=No
+We developed a [https://github.com/NimbRo/nimbro-op-ros 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.
-|free_redist_allowed_licence=Yes
+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.
 }}
 {{ProjektLink