Auto-assembled, not yet reviewed

NimbRo-OP2/OP2X

Adult-sized, 3D-printed open-source humanoid soccer platform from Uni Bonn.

Dormant. No upstream changes for two years or more. It may still build, but parts, firmware and docs may have drifted.

Last push to NimbRo/nimbro-op2: 2018-09-26 (GitHub, checked 2026-10-01).

Repository activity

Reproducibility48/100Early source coverage, unverifiedCADBOMWIREFWBUILDLICREPHow it is computed
NimbRo-OP2/OP2X 18-DoF humanoid robot, 3D render from Trunk.STEP
simplified 3D ยท Trunk.STEP

About NimbRo-OP2/OP2X

NimbRo-OP2 and NimbRo-OP2X are adult-sized, mostly 3D-printed open humanoid platforms developed at the Autonomous Intelligent Systems group, University of Bonn, used in RoboCup AdultSize soccer. Standing about 135 cm with 18 DoF (5 per leg with parallel kinematics, 3 per arm, 2 neck) driven by Robotis Dynamixel actuators, even the gears are 3D printed. This hardware repository ships STEP CAD for the printable parts and gears plus a per-robot bill of materials. Note the hardware is released under CC BY-NC-SA 3.0, a non-commercial license, so it is not OSHW-compatible. The repository was last updated in 2018.

Licenses

Hardware
CC-BY-NC-SA-3.0NC
Software
BSD-3-Clause
Docs
Not published

Degrees of freedom

18 DoF arms 6legs 10neck 2

Breakdown source

Humanoidsource

How to build NimbRo-OP2/OP2X

5 steps

Steps marked Motari summary condense the linked source; follow the source for exact instructions. Upstream step marks a step taken from the linked guide.

  1. Download CAD and BOM

    Get the STEP CAD and the per-robot bill of materials (xls) from the OP2 or OP2X folders.

    Motari summaryarxiv.org/abs/1809.11144

  2. Print structure and gears

    Have the PA12 exoskeleton and gears SLS printed (the BOM recommends the igus SLS service for gears); milled brass gears are an OP2-only option.

    Motari summaryarxiv.org/abs/1809.11144

  3. Source the actuators

    Order the Robotis Dynamixel actuators (XM-540 series on OP2X) listed in the BOM.

    Upstream stepgithub.com/NimbRo/nimbro-op2/blob/a38bab234578511220a4d49402...

  4. Assemble the robot

    No assembly guide is published. The Humanoids 2017 and 2018 papers describe the joint designs, including the parallel-kinematics legs and the master-slave actuator pairs.

    Motari summaryarxiv.org/abs/1809.11144

  5. Install the software

    Deploy the NimbRo humanoid_op_ros stack from AIS-Bonn for perception and gait control.

    Motari summaryarxiv.org/abs/1809.11144
Print timenot published
Assembly timenot published

Wiring, power and firmware are safety-relevant and shown for reference only. Check them against the source before building.

NimbRo-OP2/OP2X bill of materials

2 rows

Cost to build

The sources do not publish a cost total. The rows below are what they list, without a sum.

NimbRo-OP2/OP2X parts, as the source lists them. Prices are the source's, not checked against vendors.

NimbRo-OP2/OP2X bill of materials
PartQtySpecSourceConfidence
Robotis Dynamixel actuator setOP2 uses MX106(R/T); OP2X uses XM540-W270(R/T)
34serial bus smart servos
Robotisprice not listedNimbRo-OP2X/NimbRo-OP2X_Bill_of_Materials.xls lines 39-41
med
3D-printed exoskeleton + gearsThe papers state the structure is SLS printed; the BOM recommends the igus SLS service for gears
1PA12, selective laser sintering; STEP files in the repo CAD folders
SLS printing serviceprice not listedNimbRo-OP2X/NimbRo-OP2X_Bill_of_Materials.xls lines 3-34
med

Rows from the source's own parts list 6

README.md@a38bab2markdown

Source rowQtyPrice and vendorLine
README BOM/CAD/license statement
vendor not listedno price listed
L11

HARDWARE LICENSE CreativeCommonsLicense CC BY-NC-SA 3.0.txt@a38bab2text

Source rowQtyPrice and vendorLine
CC-BY-NC-SA-3.0 hardware license statement
vendor not listedno price listed
L5

NimbRo-OP2/NimbRo-OP2_Bill_of_Materials.xls@a38bab2xls

Source rowQtyPrice and vendorLine
MX106(R/T) Dynamixel actuator
34
Robotisno price listed
L41
OP2 3D printed structure and printed gears
source rows list per-part quantities
self-printno price listed
L2

NimbRo-OP2X/NimbRo-OP2X_Bill_of_Materials.xls@a38bab2xls

Source rowQtyPrice and vendorLine
XM540-W270(R/T) Dynamixel actuator
34
Robotisno price listed
L39
OP2X 3D printed structure and gears
source rows list per-part quantities
self-printno price listed
L3

NimbRo-OP2/OP2X source files

7 files

Files stay in the upstream repository under their own licenses; these links open them there. The 3D model on this page is Motari's conversion of the file named under Simulation.

NimbRo-OP2/OP2X in simulation

Robot description files a simulator or CAD tool can load, linked at the commit they were found.

No URDF, MJCF, SDF, USD or Onshape model has been found in the sources.

The 3D specimen on this page is converted from NimbRo-OP2X/CAD/Trunk.STEP at a38bab2.

Builds of NimbRo-OP2/OP2X

0 reviewed

No reviewed builds of NimbRo-OP2/OP2X yet.

A build log records the evidence (photos, a video, your repository), what the build cost, how long it took and what you changed. Each one is checked by Motari (until a maintainer claims this page) before it shows here, and reviewed builds count toward the reproducibility score.

Sources and provenance

Sources

Last push to NimbRo/nimbro-op2: 2018-09-26 (checked 2026-10-01)

Related links

How this page was made

Assembled from public sources on 2026-06-04, not yet reviewed by the maintainer. Each figure links to where it is stated; a value the sources do not state reads "not published". Last source review: BOM XLS a38bab2 + hardware license.

Original files stay intact and separately licensed; Motari adds only the summary on this page. Maintainer? Request a correction or removal.

Badge for the README

Maintain NimbRo-OP2/OP2X? Show its reproducibility score in the project's README. The badge links back to this page and updates with the score.

Badge: reproducibility 48/100

Markdown
[![Motari reproducibility score for NimbRo-OP2/OP2X](https://motari.io/api/v1/badge/nimbro-op2)](https://motari.io/r/nimbro-op2)
HTML
<a href="https://motari.io/r/nimbro-op2"><img src="https://motari.io/api/v1/badge/nimbro-op2" alt="Motari reproducibility score for NimbRo-OP2/OP2X" height="20"></a>

Not fully met yet: bom evidence (partial), wiring diagram, build instructions (partial), oshw-compatible license. The score is read from the project's own sources, so publishing what is missing is what raises it. A score of 90 or more needs a reviewed build. How the score is computed