Source Repositories

Bold Hearts
URL: https://gitlab.com/boldhearts
FOSS: Partially

CIT Brains
URL: https://github.com/citbrains
FOSS: Partially

Hamburg Bit-Bots
URL: https://github.com/bit-bots
Onshape (hardware)
FOSS: Fully

Ichiro
URL: https://github.com/ichiro-its
FOSS: Partially

ITAndroids
URL: https://gitlab.com/itandroids/open-projects
FOSS: Partially

Nubots
URL: https://github.com/NUbots
FOSS: Fully

Rhoban Footbal Club
URL: https://github.com/Rhoban
Onshape (hardware)
FOSS: Fully

RoboFei
URL: https://github.com/RoboFEI/RoboFEI-HT_2022_SOFTWARE
FOSS: Fully

UTRA Robosoccer
URL: https://github.com/utra-robosoccer
FOSS: Fully

Legacy

Open Source Hardware

Berlin United – FUmanoid Electronic Components
Release: Berlin United – FUmanoid Electronic Components
Team: Berlin United
– FUmanoids (KidSize)
Summary: The custom-developed electronic components of the FUmanoid robots are released
(schematics and firmware). Namely an overvoltage protection module for Dynamixel servos, an intelligent
power board and the actuator control and sensor board
Website: http://www.fumanoids.de/hardware

DDServo
Release: DDServo
Team: Darmstadt
Dribblers
Summary: The DDServo project provides custom electronics and firmware for servo motors
based on Robotis INC. RX-28 and RX-64 models. A calibration is possible withhttps://github.com/DorianScholz/ServoTool
Website: https://github.com/wojtusch/DDServo

DARwIn OP robot (Kid Size)
Release: DARwIn OP (Kid Size)
Company: Robotis
Summary: DARwIn-OP (Dynamic Anthropomorphic Robot with Intelligence–Open Platform) is
an affordable, miniature-humanoid-robot platform with advanced computational power, sophisticated
sensors, high payload capacity, and dynamic motion ability to enable many exciting research and
education activities
Website: http://sourceforge.net/projects/darwinop

NimbRo OP robot (Teen Size)
Release: NimbRo-OP Humanoid TeenSize Open Platform Hardware
Team: NimbRo TeenSize
Summary: NimbRo-OP is an open-source humanoid robot designed for the Humanoid TeenSize
class (95cm tall). It has 20 DoF and is equipped with a wide-angle camera and a dual-core PC.
Website: http://www.nimbro.net/OP

Rhoban Foot Pressure Sensors
Release: Rhoban Foot Pressure Sensors
Team: Rhoban Football Club
(KidSize)
Summary: Mechanical and electronics design of strain gauges force sensors integrated
into the feet of humanoid robot as cleats. These sensors allow for
measuring the center of pressure (of vertical forces)
with far more accuracy than with FSR sensors.
Website: https://github.com/Rhoban/ForceFoot

USBzDXL
Release: USBzDXL
Team: AUTMan
(KidSize)
Summary: The USBzDXL is a device used to directly drive Dynamixel servos on a PC. It is
used by connecting to a USB port of a PC, and is equipped with 3pin (TTL Half-Duplex) and 4pin (RS-485)
connectors to be connected with a variety of Dynamixel servos. Both connections can be used at the same
time.
Website: https://github.com/MojtabaKarimi/AUTMan-USBzDXL

Hambot (Kid & Teen Size)
Release: Hambot – An Open Source Robot for RoboCup Soccer
Team: Hamburg Bit-Bots
Summary:
Hambot is an approach to evolve from the standard Darwin
based skeleton towards a robot with more human motion capabilities. Many new features were added to
the robot to adapt it for the special requirements of RoboCup Soccer. Furthermore, nearly all parts
can be producedwith a standard 3D printer.
Website: hambot.de/

Code releases of Humanoid League teams

Berlin United – FUmanoids Code Release
Release: Berlin United – FUmanoids Code Release
Team: Berlin United
– FUmanoids
Summary: Code releases for the RoboCup events 2011-2013, also release of the underlying
framework.
Website: http://www.fumanoids.de/code

DARwIn OP Source Code
Release: DARwIn OP Source Code
Company: Robotis
Summary:
Website: http://sourceforge.net/p/darwinop/code

Hamburg Bit-Bots
Release: Hamburg Bit-Bots
Team: Hamburg Bit-Bots
Summary:
Website:

NimbRo-OP Humanoid TeenSize Open Platform Software
Release: NimbRo-OP Humanoid TeenSize Open Platform Software
Team: NimbRo TeenSize
Summary: For the NimbRo-OP robot (see above in the hardware section), the initial
software, which is based on the Robotis DARwIn-OP software, has been released.
Website: http://www.nimbro.net/OP

NUBots RoboCup code
Release: NUBots RoboCup code
Team: NUbots
Summary:
Website:

NUBots Debugger and Vision Trainer
Release: NUBots web-based debugger and vision trainer
Team: NUbots
Summary: Development web-based debugger and vision trainer
Website: https://github.com/NUbots/NUbugger

Rhoban Input Output Library (RhIO)
Release: Rhoban Input Output Library (RhIO)
Team: Rhoban Football Club
(KidSize)
Summary: RhIO is a lightweight library that can be linked against an application in
order to interact with the program on-the-fly. It aims to be a generic user interface easily integrated
with an existing project and providing operational monitoring, configuration management and control over
the robot especially during experimental development.
Website: https://github.com/Rhoban/RhIO

Rhoban Open Loop Walk Generator
Release: Rhoban Open Loop Walk Generator
Team: Rhoban Football Club
(KidSize)
Summary: IKWalk is the implementation of a simple fully open loop walk engine based on
periodic splines in Cartesian space and inverse kinematics. The
engine is tuned by understandable parameters and have been successfully tested on small humanoid robots.
Website: https://github.com/Rhoban/IKWalk

ROS Gazebo simulator of humanoid robot Tulip (Adult Size)
Release: ROS Gazebo simulator of humanoid robot Tulip (Adult Size)
Team: Tech
United
Summary: The tulip_simulator software is a stack for the Robot Operating System (ROS).
The stack contains the packages necessary to simulate the humanoid robot TUlip in the Gazebo simulator.
The stack contains a model of the robot and the RoboCup field.
Website: http://ros.org/wiki/tulip_simulator

UPennalizer / Team DARwIn RoboCup code base
Release: UPennalizer / Team DARwIn RoboCup code base
Team: UPennalizer / Team DARwIn
Summary:
Website: https://github.com/UPenn-RoboCup/UPennalizers