NimbRo

The project NimbRo – Learning Humanoid Robots – was initially funded by the German Research Foundation (DFG). Focus was on the development of humanoid robots. Both hardware and software were developed for perception, planning, and learning.{{cite web|url=https://www.ais.uni-bonn.de/nimbro/papers/NimbRo_Flyer.pdf|title=DFG-Projekt: "NimbRo – Lernende humanoide Roboter"|publisher=Universität Bonn|language=de|access-date=2019-01-10}}

The robot systems have been integrated and tested in challenging domains. Initially, humanoid soccer robots and communication robots for intuitive multimodal interactions with humans were developed. In recent years, robots have also been developed for domestic service, search and rescue, micro aerial vehicles, and bin picking. NimbRo has developed autonomous micro aerial vehicles designed for tasks such as the inspection of industrial chimneys.{{cite web|url=https://www.ais.uni-bonn.de/papers/ICUAS_2017_Nieuwenhuisen_ChimneySpector.pdf|title=Employing 3D Laser Localization and Textured Surface Reconstruction|last=M. Nieuwenhuisen, J. Quenzel, M. Beul, D. Droeschel, S. Houben, S. Behnke|date=June 2017|language=en|access-date=2019-01-10|archive-date=2018-11-25|archive-url=https://web.archive.org/web/20181125214610/http://www.ais.uni-bonn.de/papers/ICUAS_2017_Nieuwenhuisen_ChimneySpector.pdf|url-status=live}}{{Cite journal|last1=Beul|first1=Marius|last2=Nieuwenhuisen|first2=Matthias|last3=Quenzel|first3=Jan|last4=Rosu|first4=Radu Alexandru|last5=Horn|first5=Jannis|last6=Pavlichenko|first6=Dmytro|last7=Houben|first7=Sebastian|last8=Behnke|first8=Sven|date=2019|title=Team NimbRo at MBZIRC 2017: Fast landing on a moving target and treasure hunting with a team of micro aerial vehicles|journal=Journal of Field Robotics|language=en|volume=36|issue=1|pages=204–229|doi=10.1002/rob.21817|arxiv=1811.05471|issn=1556-4967|doi-access=free}}

NimbRo has competed in numerous robot soccer competitions. One of the challenges of designing a robot for humanoid soccer is the generation of dynamic movements while maintaining balance, an area of robot development important in practical applications.{{cite web|url=https://slate.com/technology/2017/08/robot-soccer-tournament-displays-robots-mediocre-soccer-skills.html|title=What's the Point of a Robot Soccer Tournament if the Robots Are Terrible at Soccer?|last=Thieme|first=Nick|date=2017-08-01|website=Slate|publisher=The Slate Group|language=en|access-date=2019-01-10}}{{Cite news|url=https://p.dw.com/p/3AHrY|title=Better than Ronaldo — Do we really need robots that play football?|last=Smolentceva|first=Natalia|date=December 18, 2018|work=Deutsche Welle|access-date=December 31, 2019}} Hardware and software developed by NimbRo has been used by multiple other robotics competition teams.{{cite web|url=https://www.eng.mu.edu/abwilliams/heirlab/papers/HSR13_Williams.pdf|title=MU-L8: The Design Architecture and 3D Printing of a Teen-Sized Humanoid Soccer Robot|last=A. B. Stroud, M. Morris, K. Carey, J. C. Williams, C. Randolph, A. B. Williams|date=2013|publisher=Marquette University Humanoid Engineering & Intelligent Robotics Lab|pages=1, 2|language=en|access-date=2019-02-02|archive-date=2016-03-24|archive-url=https://web.archive.org/web/20160324132019/http://www.eng.mu.edu/abwilliams/heirlab/papers/HSR13_Williams.pdf|url-status=dead}}{{cite web|url=https://fei.edu.br/rcs/2014/teamdescriptionpapers/humanoid/adultsize/sweaty_tdp.pdf|title=The Sweaty 2014 RoboCup Humanoid Adult Size – Team Description|last=A. Dietsche, K. Dorer, M. Fehrenbach, W. Frei, S. Glaser, S. Hirtes, U. Hochberg, I. Ismail, N.-M. Jahn, R. Kirn, R. Koger, M. Niederhofer, M. Sadeghi, M. Scharenberg, I. Tropmann, E. Tziallas, B. Waltersberger, M. Wülker, S. Venkataramana|date=2014|publisher=University of Applied Sciences Offenburg|pages=4, 7|language=en|access-date=2019-02-02}}{{cite web|url=https://www.robocuphumanoid.org/qualification/2018/TeenSize/Ichiro/tdp.pdf|title=ICHIRO TEAM – Team Description Paper Humanoid TeenSize League of Robocup 2018|last=M. R. ArRazi, M. Arifin, Muhtadin, D. S. Wicaksono, T. Pratama, S. Hafizhuddin, S. Ali, D. Alfitra, N. Ihza, A. Setiawan, E. Dywari S, M. N. Fahmy, S. Q. Asshakina, M. A. Dzaka’, B. Oktaviansyah Purwo, A. Hernando, R. Yusuf|date=2018|publisher=Institut Teknologi Sepuluh Nopember Robotics Center|page=1,2|language=en|access-date=2019-02-02|archive-date=2019-03-27|archive-url=https://web.archive.org/web/20190327092727/https://www.robocuphumanoid.org/qualification/2018/TeenSize/Ichiro/tdp.pdf|url-status=dead}}

NimbRo competed in the 2016 Amazon Picking Challenge, and the 2017 Amazon Robotics Challenge. Bin picking robots need to detect objects in complex scenes, estimate their pose, grasp them, and place the objects at a target location.{{cite web|url=https://www.youtube.com/watch?v=NqAe-zGMTjM|title=NimbRo Picking: Versatile Part Handling for Warehouse Automation|date=March 3, 2017|publisher=NimbRo|language=en|access-date=2019-01-10}}

The mobile manipulation robot Momaro{{Cite journal |last1=Schwarz |first1=Max |last2=Rodehutskors |first2=Tobias |last3=Droeschel |first3=David |last4=Beul |first4=Marius |last5=Schreiber |first5=Michael |last6=Araslanov |first6=Nikita |last7=Ivanov |first7=Ivan |last8=Lenz |first8=Christian |last9=Razlaw |first9=Jan |last10=Schüller |first10=Sebastian |last11=Schwarz |first11=David |last12=Topalidou-Kyniazopoulou |first12=Angeliki |last13=Behnke |first13=Sven |date=March 2017 |year=2017 |title=NimbRo Rescue: Solving Disaster-response Tasks with the Mobile Manipulation Robot Momaro: NimbRo Rescue: Solving Disaster-response Tasks with the Mobile Manipulation Robot Momaro |url=https://onlinelibrary.wiley.com/doi/10.1002/rob.21677 |journal=Journal of Field Robotics |language=en |volume=34 |issue=2 |pages=400–425 |doi=10.1002/rob.21677 |arxiv=1810.01345 |s2cid=40627652 |archive-date=2022-12-27 |access-date=2022-12-27 |archive-url=https://web.archive.org/web/20221227103357/https://onlinelibrary.wiley.com/doi/10.1002/rob.21677 |url-status=live }} was designed for the DARPA Robotics Challenge and inspired the Centauro robot, which was developed the European research Project CENTAURO.{{cite web|url=https://www.heise.de/newsticker/meldung/Roboter-Centauro-Ein-Vierbeiner-mit-Allradantrieb-4236431.html|title=Roboter Centauro: Ein Vierbeiner mit Allradantrieb|last=Marsiske|first=Hans-Arthur|date=2018-11-30|publisher=heise.de|language=de|access-date=2019-01-17}}

The 2018 NimbRo-OP2X robot played in the RoboCup Humanoid AdultSize class. It is 135 tall and has a weight of 18 kg.{{cite web|url=https://www.heise.de/tr/artikel/Wenn-Roboter-Fussball-spielen-4190732.html|title=Wenn Roboter Fußball spielen|date=2018-10-25|website=Heinz Heise|language=de|access-date=2019-01-17|archive-date=2019-03-27|archive-url=https://web.archive.org/web/20190327101152/https://www.heise.de/tr/artikel/Wenn-Roboter-Fussball-spielen-4190732.html|url-status=live}} Its hard- and software are open source.{{cite web|url=https://www.sciencedaily.com/releases/2012/10/121030142800.htm|title=New soccer robot has human-like agility|date=2018-10-30|publisher=sciencedaily.com|language=en|access-date=2019-01-10|archive-date=2019-03-27|archive-url=https://web.archive.org/web/20190327091115/https://www.sciencedaily.com/releases/2012/10/121030142800.htm|url-status=live}} Its structural parts are 3D-printed from polymers.{{cite web|url=https://www.heise.de/newsticker/meldung/NimbRo-Entwickler-Mit-3D-Druck-und-simplem-Prinzip-zum-RoboCup-4190734.html|title=NimbRo-Entwickler: Mit 3D-Druck und simplem Prinzip zum RoboCup|date=2018-10-25|website=Heinz Heise|language=de|access-date=2019-01-17|archive-date=2019-03-27|archive-url=https://web.archive.org/web/20190327090928/https://www.heise.de/newsticker/meldung/NimbRo-Entwickler-Mit-3D-Druck-und-simplem-Prinzip-zum-RoboCup-4190734.html|url-status=live}}

For the ANA Avatar XPRIZE competition, NimbRo developed an immersive telepresence system consisting of an anthropomorphic mobile robot and an operation station. In 2022, NimbRo won the Finals and received the Grand Prize of 5 Million US$.{{Cite journal |last1=Schwarz |first1=Max |last2=Lenz|first2=Christian|last3=Memmesheimer|first3=Raphael |last4=Pätzold |first4=Bastian |last5=Rochow|first5=Andre |last6=Schreiber |first6=Michael |last7=Behnke |first7=Sven |date=March 2023|year=2023|title=Robust Immersive Telepresence and Mobile Telemanipulation: NimbRo wins ANA Avatar XPRIZE Finals | arxiv=2303.03297}}

File:NimbRo Avatar Telepresence Robot at ANA Avatar XPRIZE Finals.jpg

NimbRo participated at the following robot competitions and challenges:

• RoboCup, robot soccer{{cite news|url=https://www.faz.net/aktuell/gesellschaft/robocup-2006-der-deutsche-robotinho-1333052.html|title=Der deutsche Robotinho|last=Stillich|first=Sven|date=2006-06-14|newspaper=FAZ.NET|language=de|access-date=2019-01-14}} – in the Humanoid League size classes AdultSize, TeenSize, and KidSize
• ANA Avatar XPRIZE Competition{{Cite book |last1=Schwarz |first1=Max |last2=Lenz |first2=Christian |last3=Rochow |first3=Andre |last4=Schreiber |first4=Michael |last5=Behnke |first5=Sven |title=2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) |chapter=NimbRo Avatar: Interactive Immersive Telepresence with Force-Feedback Telemanipulation |date=2021-09-27 |chapter-url=https://ieeexplore.ieee.org/document/9636191 |location=Prague, Czech Republic |publisher=IEEE |pages=5312–5319 |doi=10.1109/IROS51168.2021.9636191 |arxiv=2109.13772 |isbn=978-1-6654-1714-3|s2cid=237602045 }}
• Mohamed Bin Zayed International Robotics Challenge (MBZIRC)
• DARPA Robotics Challenge (DRC), search and rescue robots{{Cite web|url=https://archive.darpa.mil/roboticschallenge/finalist/nimbro-rescue.html|title=Team NimbRo Rescue{{!}} DRC Finals|website=archive.darpa.mil|access-date=2020-01-15|archive-date=2017-10-28|archive-url=https://web.archive.org/web/20171028162051/http://archive.darpa.mil/roboticschallenge/finalist/nimbro-rescue.html|url-status=live}}
• RoboCup@Home, domestic service robots{{cite web|url=https://www.heise.de/newsticker/meldung/RoboCup-WM-B-Human-und-NimbRo-erneut-Weltmeister-1276553.html|title=RoboCup-WM: B-Human und NimbRo erneut Weltmeister|last=Marsiske|first=Hans-Arthur|date=2011-07-10|publisher=Heinz Heise|language=de|access-date=2019-01-29|archive-date=2019-03-27|archive-url=https://web.archive.org/web/20190327090419/https://www.heise.de/newsticker/meldung/RoboCup-WM-B-Human-und-NimbRo-erneut-Weltmeister-1276553.html|url-status=live}}{{Cite web|url=https://www.thaipr.net/general/486638,%20https://www.thaipr.net/general/486638|title=เด็กไทย โชว์ฟอร์มเจ๋งทำคะแนนสูงสุด 3 อันดับแรกของโลก ในการแข่งขันรอบแรก หุ่นยนต์กู้ภัยโลก ที่เนเธอร์แลนด์ {{!}} ThaiPR.NET|website=www.ThaiPR.net|language=th|access-date=2020-01-15}}
• Amazon Picking/Robotics Challenge, bin picking robots{{cite web|url=https://www.theguardian.com/technology/2016/jul/05/amazon-robotics-competition-dutch-team-first-prize|title=Amazon moves one step closer toward army of warehouse robots|last=Thielman|first=Sam|date=2016-07-15|website=The Guardian|language=en|access-date=2019-01-10}}
• European Robotics Challenges (EuRoC), robots for industrial use cases{{Cite web|url=https://innovationorigins.com/small-european-group-qualifies-for-next-round-of-ana-avatar-xprize/|title=Small European group qualifies for next round of ANA Avatar XPRIZE|last=Brouwers|first=Bart|date=2020-01-11|website=Innovation Origins|language=en-GB|access-date=2020-01-15|archive-date=2020-01-15|archive-url=https://web.archive.org/web/20200115071414/https://innovationorigins.com/small-european-group-qualifies-for-next-round-of-ana-avatar-xprize/|url-status=live}}
• DLR SpaceBot Cup, space exploration robots{{Cite news|url=https://www.welt.de/regionales/koeln/article121803230/Der-Wettstreit-der-Roboter-um-eine-ferne-Mission.html|title=Weltraum-Forschung : Der Wettstreit der Roboter um eine ferne Mission|last=Wahl-Immel|first=Yuriko|date=2013-11-12|work=Die Welt|access-date=2020-01-15}}

The team won world championship titles in 2009–2013,{{cite news|url=https://www.welt.de/regionales/koeln/article130300434/Bonner-Fussballroboter-in-Brasilien-auf-Titeljagd.html|title=Bonner Fußballroboter in Brasilien auf Titeljagd|date=2014-07-19|newspaper=Die Welt|language=de|access-date=2019-01-14|archive-date=2014-09-22|archive-url=https://web.archive.org/web/20140922114139/http://www.welt.de/regionales/koeln/article130300434/Bonner-Fussballroboter-in-Brasilien-auf-Titeljagd.html|url-status=live}} including first place in 2011 and 2012,{{cite web|url=http://www.general-anzeiger-bonn.de/news/wissen-und-bildung/wissenschaft/Team-der-Uni-Bonn-in-Eindhoven-Favorit-article1081790.html|title=Team der Uni Bonn in Eindhoven Favorit|date=2013-06-24|website=General Anzeiger|language=de|access-date=2019-01-14|archive-date=2019-03-27|archive-url=https://web.archive.org/web/20190327090514/http://www.general-anzeiger-bonn.de/news/wissen-und-bildung/wissenschaft/Team-der-Uni-Bonn-in-Eindhoven-Favorit-article1081790.html|url-status=live}} and 2016-2019{{cite web|url=https://www.heise.de/newsticker/meldung/RoboCup-Finale-Die-Maschinenkicker-legen-zu-und-deutsche-Teams-raeumen-ab-3786527.html|title=RoboCup-Finale: Die Maschinenkicker legen zu – und deutsche Teams räumen ab|date=2017-07-30|website=Heinz Heise|language=de|access-date=2020-01-08|archive-date=2018-12-08|archive-url=https://web.archive.org/web/20181208112946/https://www.heise.de/newsticker/meldung/RoboCup-Finale-Die-Maschinenkicker-legen-zu-und-deutsche-Teams-raeumen-ab-3786527.html|url-status=live}}{{cite web|url=https://www.technologyreview.com/s/612133/meet-the-winner-of-robotics-world-cup/|title=Meet the winner of robotics' World Cup|date=September 20, 2018|website=MIT Technology Review|language=en|access-date=2020-01-15}}{{cite web|url=https://www.heise.de/newsticker/meldung/RoboCup-WM-Mehrere-Titelgewinne-fuer-Teams-aus-Deutschland-4464696.html|title=RoboCup-WM: Mehrere Titelgewinne für Teams aus Deutschland|date=July 2019|website=Heinz Heise|language=de|access-date=2019-08-26|archive-date=2019-08-26|archive-url=https://web.archive.org/web/20190826172439/https://www.heise.de/newsticker/meldung/RoboCup-WM-Mehrere-Titelgewinne-fuer-Teams-aus-Deutschland-4464696.html|url-status=live}} in the RoboCup Humanoid League robot soccer.

In MBZIRC 2017, NimbRo won the Grand Challenge ($1 million prize) and one of the individual challenges.{{cite web|title=Robotikwettbewerb MBZIRC: Bonner Roboter räumen in Abu Dhabi ab|publisher=heise.de|url=https://www.heise.de/newsticker/meldung/Robotikwettbewerb-MBZIRC-Bonner-Roboter-raeumen-in-Abu-Dhabi-ab-3658447.html|access-date=2019-01-29|date=2017-03-18|language=de|archive-date=2019-08-26|archive-url=https://web.archive.org/web/20190826190604/https://www.heise.de/newsticker/meldung/Robotikwettbewerb-MBZIRC-Bonner-Roboter-raeumen-in-Abu-Dhabi-ab-3658447.html|url-status=live}}{{cite web|url=https://www.khaleejtimes.com/nation/abu-dhabi/german-team-wins-1m-robotics-competition|title=German team wins $1m robotics competition|last=Sebugwaawo|first=Ismail|date=2017-03-18|website=Khaleej Times|language=en|access-date=2019-01-31}} The focus of this competition was mobile manipulation and autonomous micro aerial vehicles.

== References ==

{{reflist}}

• [https://www.nimbro.net/ Official Website]

Category:Robotics organizations

Category:Sports clubs and teams in Germany

Category:Science and technology in Germany

Category:DARPA Grand Challenge

Category:University of Bonn