AGILOped: Agile Open-Source Humanoid Robot for Research

Abstract-- With academic and commercial interest for humanoid robots peaking, multiple platforms are being developed. 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. Humanoid robotics is currently experiencing a surge in development, fueled by the elusive idea of universal automatons capable of performing work at a level similar to humans. This is the result of several key technologies maturing to the point of viability.