How to build NimbRo-OP2/OP2X
18-DoF humanoid robot · Expert
NimbRo-OP2 and OP2X are Uni Bonn's adult-size, mostly 3D-printed humanoids for RoboCup, with Dynamixel actuators, STEP CAD and BOMs.
Research-grade: machining, motor drivers and control theory.
Our estimate, part-time
Price the BOM yourself
CC-BY-NC-SA-3.0 · non-commercial
What is NimbRo-OP2/OP2X?
NimbRo-OP2 and its successor OP2X come from Sven Behnke's Autonomous Intelligent Systems group at the University of Bonn, built for RoboCup AdultSize soccer. They're about 135 cm tall.
The structure is SLS-printed PA12, and even the gears are printed. Each leg has five DoF in a parallel-kinematic layout, each arm three, and the neck two, for 18 in total, all driven by Robotis Dynamixel actuators (MX-106 on OP2, XM540 on OP2X).
The hardware repo publishes STEP files and a BOM per robot. It's CC BY-NC-SA 3.0, so non-commercial only, and hasn't been updated since 2018.
NimbRo-OP2/OP2X specifications
- Height
- ≈135 cm
- DoF
- 18
- Actuators
- Dynamixel MX-106 (OP2) / XM540-W270 (OP2X)
- Structure
- SLS-printed PA12
- Software
- ROS framework (BSD-3)
Figures as published by the project. See Sources below.
Bill of materials
| Part | Qty | Notes |
|---|---|---|
| Robotis Dynamixel actuators | — | Parallel legs use multiple servos per joint; see the BOM |
| SLS-printed PA12 shell and gears | — | |
| Onboard PC, camera and battery | — | Per the robot's BOM |
Where's the full bill of materials?
The full BOM, with exact quantities and vendors, lives in the project's own files. Prices change often, so treat Not published as a ballpark. Start at the project repository.
Tools you'll need
- SLS printing service
- Hex drivers
Step-by-step build overview
Electronics & wiring overview
Dynamixel bus from the onboard PC; details come from the BOM and papers rather than a wiring guide.
Software
The project ships its own firmware and control code. See the repository for setup.
The igus Humanoid Open Platform ROS framework (humanoid_op_ros) covers walking, vision and behaviour.
Tips from the bench
- ☕ Without an assembly guide, plan on reading the Humanoids papers closely.
NimbRo-OP2/OP2X FAQ
Can I use NimbRo-OP2 commercially?
No. The hardware is CC BY-NC-SA 3.0.
How tall is it?
About 135 cm, adult-size for RoboCup.
Sources
Written by Bots n' Beans from the project's own documentation. Check the sources for the latest revision before you buy parts.
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