For several years, high development and production costs of humanoid robots restricted researchers interested in working in the field. To overcome this problem, several research groups have opted to work with simulated or smaller robots, whose acquisition costs are significantly lower. However, due to scale differences and imperfect simulation replicability, results may not be directly reproducible on real, adult-sized robots. In this paper, we present the NimbRo-OP2X, a capable and affordable adult-sized humanoid platform aiming to significantly lower the entry barrier for humanoid robot research. With a height of 135[Formula: see text]cm and weight of only 19[Formula: see text]kg, the robot can interact in an unmodified, human environment without special safety equipment. Modularity in hardware and software allows this platform enough flexibility to operate in different scenarios and applications with minimal effort. The robot is equipped with an on-board computer with GPU, which enables the implementation of state-of-the-art approaches for object detection and human perception demanded by areas such as manipulation and human–robot interaction. Finally, the capabilities of the NimbRo-OP2X, especially in terms of locomotion stability and visual perception, are evaluated. This includes the performance at RoboCup 2018, where NimbRo-OP2X won all possible awards in the AdultSize class.

中文翻译：

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Nimbro-OP2X：用于研究的经济实惠的成人大小 3D 打印开源人形机器人

几年来，人形机器人的高昂开发和生产成本限制了对该领域工作感兴趣的研究人员。为了克服这个问题，几个研究小组选择使用模拟或更小的机器人，其购置成本显着降低。然而，由于规模差异和不完美的模拟可复制性，结果可能无法直接在真实的成人大小的机器人上重现。在本文中，我们介绍了 NimbRo-OP2X，这是一个功能强大且价格合理的成人大小的人形平台，旨在显着降低人形机器人研究的进入门槛。该机器人身高135[公式：见正文]cm，重量仅为19[公式：见正文]kg，无需特殊安全设备即可在未经改造的人类环境中进行交互。硬件和软件的模块化使该平台具有足够的灵活性，可以轻松地在不同的场景和应用程序中运行。该机器人配备了带 GPU 的机载计算机，可实现最先进的目标检测和人类感知方法，这些方法是操纵和人机交互等领域所需的。最后，评估了 NimbRo-OP2X 的能力，特别是在运动稳定性和视觉感知方面。这包括在 RoboCup 2018 上的表现，NimbRo-OP2X 在 AdultSize 类中赢得了所有可能的奖项。这使得能够实施诸如操纵和人机交互等领域所需的最先进的对象检测和人类感知方法。最后，评估了 NimbRo-OP2X 的能力，特别是在运动稳定性和视觉感知方面。这包括在 RoboCup 2018 上的表现，NimbRo-OP2X 在 AdultSize 类中赢得了所有可能的奖项。这使得能够实施诸如操纵和人机交互等领域所需的最先进的对象检测和人类感知方法。最后，评估了 NimbRo-OP2X 的能力，特别是在运动稳定性和视觉感知方面。这包括在 RoboCup 2018 上的表现，NimbRo-OP2X 在 AdultSize 类中赢得了所有可能的奖项。