NimbRo AdultSize Soccer Humanoid✓
(NimbRo AdultSize Humanoid)@nimbro-adultsize
1x Tournament Gold Medalist
Open research adultsize soccer humanoid platform utilized in RoboCup.
2 Matches•1 Podium•886 Followers•Chassis v1.0-current
3D Model & Studio Orthographics
Interactive bipedal kinematic model with URDF description.
Primary Chassis StanceOperational Stance
NimbRo AdultSize Soccer Humanoid • v1.0-current
[ Standard Operational Homologation Pose ]
Subsystems:✓ 20-DoF Actuated Joints✓ Intel NUC i7 + NVIDIA GeForce GTX GPU✓ Lithium-polymer
Physical Specs
Stance Height140 cm
Operating Mass24 kg
Articulated DoF20 DoF
Joint Torque120 Nm (180 Cont.)
Athletic Benchmarks
Grade A VerifiedTop Speed41.65 km/h (Laser Gate)
Push Recovery180 ms (Untethered)
Self Get-Up3.2 s (Zero-Assist)
Testbed SurfaceOutdoor Tartan
Compute & Power
AI SiliconIntel NUC i7 + NVIDIA GeForce GTX GPU
Control Loop1 kHz Real-time
Battery Pack450 Wh (90m cruise)
Policy Typecapture_point_feedback_control
42-DoF Kinematics & Actuation Map
Interactive joint degree-of-freedom allocation, actuator reduction type, and peak torque output.
20 Active DoF
Actuation Budget Distribution:12 Leg • 14 Arm • 12 Hand • 3 Torso • 2 Neck
Active Joint Telemetry
2 DoFKnee Pitch Joint (Dual L/R)
Actuator PartRA-ACT-M107-360NM
Peak / Cont. Torque360 Nm (180 Nm Cont.)
Range of Motion0° to +140°
Encoder FeedbackDual 19-bit Absolute Magnetic + Optical
Control Bus RateEtherCAT @ 1kHz
Kinematic Role: Maximum power knee extension & ground reaction absorption
Passport & Data Grade
Grade BChassis SKUHOM-NIMBRO-ADULTSIZE-01
Origin🏭 Commercial Platform
Authority🏭 Vendor Catalog Spec
Manufacturer & Lab
UN
University of Bonn
Bonn, DE
Maintainer ProfileUnclaimed
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