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First Look: TeenSize-OP by Team NimbRo & Robotis

Earlier we got wind that Robotis would launch a new TeenSize robot to complement the popular (KidSize) DARwIn-OP.  When Team Darwin showed off their TeenSize robot (see here), we thought that it was the likely candidate for this new robot.  As it turns out, the TeenSize counterpart to the DARwIn-OP was developed by members of Team NimbRo (which makes sense, as they’ve won in that size category several years running).  Their TeenSized robot, nicknamed “Copedo”, took the Louis Vuitton Humanoid Cup for “Best Humanoid” this year (that’s them in the above photo). Construction kits for TeenSize-OP will be made available by the University of Bonn and Robotis.  From the poster:

To promote the Humanoid League TeenSize class, Team NimbRo wants to share its expertise with the community by developing and releasing an affordable TeenSize open platform.  This includes robot hardware and software suitable for playing RoboCup soccer games.  Robot hardware and software will be modular, such that other research groups can easily assemble the robot, operate it, repair it, and modify it to their needs.  All developed hardware and software will be documented and published as open source.

The TeenSize League’s minimum height requirement has gradually risen over the years to 90 cm (just shy of 3 feet).  Building a robot that can reliably walk, kick, and stand up from a fall at this height is more challenging than it sounds; only five teams qualified to compete this year.  By combining Team NimbRo’s expertise with Robotis’ trusted, high-quality brand of actuators, many more teams will have the chance to compete.  And that’s an important thing if RoboCup’s stated goal (of besting humans by 2050) is ever to come true.

The TeenSize-OP stands about 95 cm (just over 3 feet) tall.  It weighs approximately 7 kg (15 lbs), and has 20 degrees of freedom (powered by Robotis Dynamixel actuators, of course).  Each leg has six MX-106s, each arm has three MX-64s, and the neck has two MX-64s.  It runs the ROS middleware on a ZBOX Nano (1.6 GHz dual-core AMD Fusion processor with 4 GB RAM, SSD, WLAN, USB 3.0, and HDMI ports) and a Robotis CM-730 subcontroller powered by Li-Po batteries.  It also features two Logitech C905 cameras with wide-angle lens.

With the help of the community, they would like to build modules for visual perception (of the game situation), robot state estimation, inverse kinematics, omnidirectional walking, motion generation, basic soccer skills, robot communication, and game control (by the referee box).

RoboBuilder, a competing brand, is also developing a robot in this size class (see the RQ-TITAN), but it seems unlikely that it will be able to challenge the might of this combination.  It’ll be an uphill battle for them: already eight teams expressed interest in the idea of the TeenSize-OP at RoboCup 2011, and many more got to see it in person this year.

[source: Team NimbRo] & [Robotis]


  • Looks nice, like something I would want to use for general robot software development stuff, though I guess if I want a robot designed to use grippers I’ll have to wait for a robot baseball or basketball tournament.