# NimbRo-OP2X: Adult-sized Open-source 3D Printed Humanoid Robot

arXiv: https://arxiv.org/abs/1810.08395 · HTML: https://mlsanity.com/paper/1810.08395/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 19 Oct 2018.

## Built on by (most cited first, 2 of 2)

- [Real-time Pose Estimation from Images for Multiple Humanoid Robots](https://mlsanity.com/paper/2107.02675/) (2021)
- [The Duke Humanoid: Design and Control For Energy Efficient Bipedal Locomotion Using Passive Dynamics](https://mlsanity.com/paper/2409.19795/) (2024)

## Abstract (arXiv)

Humanoid robotics research depends on capable robot platforms, but recently developed advanced platforms are often not available to other research groups, expensive, dangerous to operate, or closed-source. The lack of available platforms forces researchers to work with smaller robots, which have less strict dynamic constraints or with simulations, which lack many real-world effects. We developed NimbRo-OP2X to address this need. At a height of 135 cm our robot is large enough to interact in a human environment. Its low weight of only 19 kg makes the operation of the robot safe and easy, as no special operational equipment is necessary. Our robot is equipped with a fast onboard computer and a GPU to accelerate parallel computations. We extend our already open-source software by a deep-learning based vision system and gait parameter optimisation. The NimbRo-OP2X was evaluated during RoboCup 2018 in Montr'eal, Canada, where it won all possible awards in the Humanoid AdultSize class.