{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,16]],"date-time":"2026-03-16T14:07:38Z","timestamp":1773670058340,"version":"3.50.1"},"reference-count":43,"publisher":"World Scientific Pub Co Pte Ltd","issue":"05","funder":[{"DOI":"10.13039\/501100001659","name":"Deutsche Forschungsgemeinschaft","doi-asserted-by":"publisher","award":["BE 2556\/13"],"award-info":[{"award-number":["BE 2556\/13"]}],"id":[{"id":"10.13039\/501100001659","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Int. J. Human. Robot."],"published-print":{"date-parts":[[2020,10]]},"abstract":"<jats:p> 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\u2013robot 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. <\/jats:p>","DOI":"10.1142\/s0219843620500218","type":"journal-article","created":{"date-parts":[[2020,9,7]],"date-time":"2020-09-07T12:51:10Z","timestamp":1599483070000},"page":"2050021","source":"Crossref","is-referenced-by-count":13,"title":["Nimbro-OP2X: Affordable Adult-Sized 3D-Printed Open-Source Humanoid Robot for Research"],"prefix":"10.1142","volume":"17","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-6937-4500","authenticated-orcid":false,"given":"Grzegorz","family":"Ficht","sequence":"first","affiliation":[{"name":"Institute for Computer Science VI, University of Bonn, Endenicher Allee 19a, 53115 Bonn, Germany"}]},{"given":"Hafez","family":"Farazi","sequence":"additional","affiliation":[{"name":"Institute for Computer Science VI, University of Bonn, Endenicher Allee 19a, 53115 Bonn, Germany"}]},{"given":"Diego","family":"Rodriguez","sequence":"additional","affiliation":[{"name":"Institute for Computer Science VI, University of Bonn, Endenicher Allee 19a, 53115 Bonn, Germany"}]},{"given":"Dmytro","family":"Pavlichenko","sequence":"additional","affiliation":[{"name":"Institute for Computer Science VI, University of Bonn, Endenicher Allee 19a, 53115 Bonn, Germany"}]},{"given":"Philipp","family":"Allgeuer","sequence":"additional","affiliation":[{"name":"Institute for Computer Science VI, University of Bonn, Endenicher Allee 19a, 53115 Bonn, Germany"}]},{"given":"Andr\u00e9","family":"Brandenburger","sequence":"additional","affiliation":[{"name":"Institute for Computer Science VI, University of Bonn, Endenicher Allee 19a, 53115 Bonn, Germany"}]},{"given":"Sven","family":"Behnke","sequence":"additional","affiliation":[{"name":"Institute for Computer Science VI, University of Bonn, Endenicher Allee 19a, 53115 Bonn, Germany"}]}],"member":"219","published-online":{"date-parts":[[2020,10,9]]},"reference":[{"key":"S0219843620500218BIB001","doi-asserted-by":"crossref","first-page":"173","DOI":"10.3951\/biomechanisms.2.173","volume":"2","author":"Kato I.","year":"1973","journal-title":"Biomechanism"},{"key":"S0219843620500218BIB002","first-page":"1321","volume-title":"IEEE Int. Conf. Robotics and Automation (ICRA)","author":"Hirai K.","year":"1998"},{"key":"S0219843620500218BIB003","doi-asserted-by":"crossref","first-page":"2478","DOI":"10.1109\/IRDS.2002.1041641","volume-title":"IEEE\/RSJ Int. Conf. Intelligent Robots and Systems (IROS)","author":"Sakagami Y.","year":"2002"},{"issue":"4","key":"S0219843620500218BIB004","volume":"23","author":"Yokoi K.","year":"2004","journal-title":"Robot. Res."},{"issue":"4","key":"S0219843620500218BIB005","doi-asserted-by":"crossref","first-page":"165","DOI":"10.1016\/j.robot.2004.07.007","volume":"48","author":"Hirukawa H.","year":"2004","journal-title":"Robot. Autonom. Syst."},{"key":"S0219843620500218BIB006","first-page":"2471","volume-title":"IEEE\/RSJ Int. Conf. Intelligent Robots and Systems (IROS)","author":"Kaneko K.","year":"2008"},{"key":"S0219843620500218BIB007","first-page":"4400","volume-title":"IEEE\/RSJ Int. Conf. Intelligent Robots and Systems (IROS)","author":"Kaneko K.","year":"2011"},{"key":"S0219843620500218BIB008","first-page":"7","volume-title":"IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids)","author":"Kaneko K.","year":"2009"},{"key":"S0219843620500218BIB009","first-page":"916","volume-title":"IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids)","author":"Englsberger J.","year":"2014"},{"issue":"3","key":"S0219843620500218BIB010","doi-asserted-by":"crossref","first-page":"397","DOI":"10.1002\/rob.21560","volume":"32","author":"Radford N.","year":"2015","journal-title":"Field Robot."},{"key":"S0219843620500218BIB011","first-page":"689","volume-title":"IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids)","author":"Stasse O.","year":"2017"},{"key":"S0219843620500218BIB012","volume-title":"Workshop on Humanoid Soccer Robots, IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids)","author":"Schwarz M.","year":"2012"},{"key":"S0219843620500218BIB013","doi-asserted-by":"crossref","first-page":"33","DOI":"10.1109\/HUMANOIDS.2015.7363519","volume-title":"IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids)","author":"Allgeuer P.","year":"2015"},{"key":"S0219843620500218BIB014","first-page":"669","volume-title":"IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids)","author":"Ficht G.","year":"2017"},{"key":"S0219843620500218BIB015","first-page":"448","volume-title":"RoboCup 2017: Robot World Cup XXI","author":"Ficht G.","year":"2017"},{"key":"S0219843620500218BIB016","first-page":"1","volume-title":"IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids)","author":"Ficht G.","year":"2018"},{"key":"S0219843620500218BIB019","volume-title":"Lecture notes in Machine Design","author":"Gopinath K.","year":"2010"},{"key":"S0219843620500218BIB020","volume-title":"Workshop on Open Source Software, IEEE Int. Conf. Robotics and Automation (ICRA)","author":"Quigley M.","year":"2009"},{"key":"S0219843620500218BIB021","first-page":"568","volume-title":"RoboCup 2013: Robot World Cup XVII","author":"Schwarz M.","year":"2013"},{"key":"S0219843620500218BIB023","doi-asserted-by":"crossref","first-page":"120","DOI":"10.1007\/978-3-030-04239-4_11","volume-title":"Int. Conf. on Neural Information Processing (ICONIP)","author":"Biddulph A.","year":"2018"},{"key":"S0219843620500218BIB026","first-page":"366","volume-title":"IEEE\/RSJ Int. Conf. Intelligent Robots and Systems (IROS)","author":"Allgeuer P.","year":"2015"},{"issue":"4","key":"S0219843620500218BIB027","doi-asserted-by":"crossref","first-page":"308","DOI":"10.1093\/comjnl\/7.4.308","volume":"7","author":"Nelder J.","year":"1965","journal-title":"Comput, J."},{"key":"S0219843620500218BIB028","first-page":"834","volume-title":"IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids)","author":"Allgeuer P.","year":"2016"},{"key":"S0219843620500218BIB029","first-page":"70","volume-title":"RoboCup 2018: Robot World Cup XXII","author":"Rodriguez D.","year":"2018"},{"key":"S0219843620500218BIB030","first-page":"1809","volume":"13","author":"Hennig P.","year":"2012","journal-title":"Mach. Learn. Res."},{"key":"S0219843620500218BIB031","volume-title":"Workshop on Humanoid Soccer Robots, IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids)","author":"Farazi H.","year":"2015"},{"key":"S0219843620500218BIB032","first-page":"6118","volume-title":"IEEE\/RSJ Int. Conf. Intelligent Robots and Systems (IROS)","author":"Farazi H.","year":"2017"},{"issue":"12","key":"S0219843620500218BIB033","doi-asserted-by":"crossref","first-page":"2481","DOI":"10.1109\/TPAMI.2016.2644615","volume":"39","author":"Badrinarayanan V.","year":"2017","journal-title":"IEEE Trans. Pattern Anal. Mach. Intelli."},{"key":"S0219843620500218BIB034","first-page":"234","volume-title":"Int. Conf. on Medical Image Computing and Computer-Assisted Intervention (MICCAI)","author":"Ronneberger O.","year":"2015"},{"key":"S0219843620500218BIB035","volume-title":"Workshop on Humanoid Soccer Robots, IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids)","author":"Schnekenburger F.","year":"2017"},{"key":"S0219843620500218BIB036","first-page":"464","volume-title":"IEEE Winter Conf. Applications of Computer Vision (WACV)","author":"Smith L.","year":"2017"},{"key":"S0219843620500218BIB037","volume-title":"Int. Conf. for Learning Representations (ICLR)","author":"Sashank R.","year":"2018"},{"key":"S0219843620500218BIB038","volume-title":"10th NIPS Workshop on Optimization for Machine Learning","author":"Brock A.","year":"2017"},{"key":"S0219843620500218BIB039","first-page":"3320","volume-title":"Advances in Neural Information Processing Systems (NIPS)","author":"Yosinski J.","year":"2014"},{"key":"S0219843620500218BIB040","first-page":"162","volume-title":"RoboCup 2018: Robot World Cup XXII","author":"Fiedler N.","year":"2018"},{"issue":"1","key":"S0219843620500218BIB041","doi-asserted-by":"crossref","first-page":"32","DOI":"10.1016\/0734-189X(85)90016-7","volume":"30","author":"Suzuki S.","year":"1985","journal-title":"Comput. Vis. Graph. Image Process."},{"issue":"1","key":"S0219843620500218BIB042","doi-asserted-by":"crossref","first-page":"1499","DOI":"10.1109\/LSP.2016.2603342","volume":"23","author":"Zhang K.","year":"2016","journal-title":"IEEE Signal Process. Lett."},{"key":"S0219843620500218BIB043","first-page":"7291","volume-title":"IEEE Conf. on Computer Vision and Pattern Recognition (CVPR)","author":"Cao Z.","year":"2017"},{"key":"S0219843620500218BIB045","first-page":"580","volume-title":"IEEE Conf. on Computer Vision and Pattern Recognition (CVPR)","author":"Girschick R.","year":"2014"},{"key":"S0219843620500218BIB046","first-page":"4397","volume-title":"IEEE Int. Conf. Robotics and Automation (ICRA)","author":"Erez T.","year":"2015"},{"key":"S0219843620500218BIB047","first-page":"3136","volume-title":"IEEE Int. Conf. Robotics and Automation (ICRA)","author":"Khoury A.","year":"2013"},{"key":"S0219843620500218BIB048","first-page":"38","volume-title":"ACM-SIAM Sympos. Discrete Algorithms (SODA)","author":"Barequet G.","year":"2001"},{"issue":"26","key":"S0219843620500218BIB049","doi-asserted-by":"crossref","DOI":"10.1126\/scirobotics.aau5872","volume":"4","author":"Hwangbo J.","year":"2019","journal-title":"Sci. Robot."}],"container-title":["International Journal of Humanoid Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.worldscientific.com\/doi\/pdf\/10.1142\/S0219843620500218","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2020,11,11]],"date-time":"2020-11-11T11:30:35Z","timestamp":1605094235000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.worldscientific.com\/doi\/abs\/10.1142\/S0219843620500218"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,10]]},"references-count":43,"journal-issue":{"issue":"05","published-print":{"date-parts":[[2020,10]]}},"alternative-id":["10.1142\/S0219843620500218"],"URL":"https:\/\/doi.org\/10.1142\/s0219843620500218","relation":{},"ISSN":["0219-8436","1793-6942"],"issn-type":[{"value":"0219-8436","type":"print"},{"value":"1793-6942","type":"electronic"}],"subject":[],"published":{"date-parts":[[2020,10]]}}}