SUSTAINA-OP2^TM: Customizable Kid-sized Open Hardware Platform Humanoid Robot for Research and Competition

摘要

This research focuses on developing a humanoid robot hardware platform that improves accessibility by allowing most mechanical and electronic components to be purchased from e-commerce sites and obtained as custom-made parts through external services. The SUSTAINA-OP ${ }^{\text {TM }}$ series, developed through research and competition activities in the RoboCup Humanoid League is designed as a robust robot using metal and FRP and has influenced the development of various robots in RoboCup and other international competitions. The public availability of design data allows researchers to efficiently build and customize robots for diverse applications. The successor model, SUSTAINA-OP2 ${ }^{\text {TM }}$, adopts official developer kits for its computer boards and sensor modules to reduce the burden of software development and features new actuators that further enhance the robot’s robustness. All design data is available at github.com/SUSTAINA-OP2. The SUSTAINAOP2 ${ }^{\text {M }}$ was evaluated at Robocup 2024, held in Eindhoven in July 2024, where it secured first place in the Humanoid KidSize class soccer competition.