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Sourcecode & CAD drawings of NimbRo-OP
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NimbRo-OP software & CAD files release


This repository contains patches against the ROBOTIS software for DARwIn OP to make it work with our NimbRo-OP humanoid TeenSize robot.

The patches apply against version 1.5.0, which is available at sourceforge and the sub controller code version 0x13, available here.

In order to get you started we include a shell script ( to download the correct files and patch the sources. Simply call it by


and it will set everything up for you.

CAD files

CAD drawings of the robot are available in the Hardware folder.


Documetation & Manuals will be available soon.

Authors & License

The patches and CAD robot parts were developed at the Autonomous Intelligent Systems Group, Rheinische Friedrich-Wilhelms-Universität Bonn. The software contents of this repository are released under the BSD-3 license (see LICENSE file for details). The CAD drawings of this repository are released under the Attribution-NonCommercial-ShareAlike 3.0 (CC BY-NC-SA 3.0) license (see "HARDWARE LICENSE CreativeCommonsLicense CC BY-NC-SA 3.0.txt" for details).


For more information, take a look at our webpages:

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