AGILOped: Agile Open-Source Humanoid Robot for Research
Fuente:
arXiv
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| Autori principali: | , , |
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| Natura: | Preprint |
| Pubblicazione: |
2025
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| _version_ | 1866909781816508416 |
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| author | Ficht, Grzegorz Denninger, Luis Behnke, Sven |
| author_facet | Ficht, Grzegorz Denninger, Luis Behnke, Sven |
| contents | With academic and commercial interest for humanoid robots peaking, multiple platforms are being developed. Through a high level of customization, they showcase impressive performance. Most of these systems remain closed-source or have high acquisition and maintenance costs, however. In this work, we present AGILOped - an open-source humanoid robot that closes the gap between high performance and accessibility. Our robot is driven by off-the-shelf backdrivable actuators with high power density and uses standard electronic components. With a height of 110 cm and weighing only 14.5 kg, AGILOped can be operated without a gantry by a single person. Experiments in walking, jumping, impact mitigation and getting-up demonstrate its viability for use in research. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2509_09364 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | AGILOped: Agile Open-Source Humanoid Robot for Research Ficht, Grzegorz Denninger, Luis Behnke, Sven Robotics With academic and commercial interest for humanoid robots peaking, multiple platforms are being developed. Through a high level of customization, they showcase impressive performance. Most of these systems remain closed-source or have high acquisition and maintenance costs, however. In this work, we present AGILOped - an open-source humanoid robot that closes the gap between high performance and accessibility. Our robot is driven by off-the-shelf backdrivable actuators with high power density and uses standard electronic components. With a height of 110 cm and weighing only 14.5 kg, AGILOped can be operated without a gantry by a single person. Experiments in walking, jumping, impact mitigation and getting-up demonstrate its viability for use in research. |
| title | AGILOped: Agile Open-Source Humanoid Robot for Research |
| topic | Robotics |
| url | https://arxiv.org/abs/2509.09364 |