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NimbRo-OP2 and NimbRo-OP2X hardware release

This repository contains all hardware aspects of the NimbRo-OP2 and NimbRo-OP2X robots split into separate folders.

NimbRo-OP2 NimbRo-OP2X
NimbRo-OP2 NimbRo-OP2

A bill of materials (bom) file containing part numbers and quantities is included in each directory related to the robot. Part files in *.STEP format have been put in the CAD folder. These include:

  • 3D printable parts
  • Milled brass gears (NimbRo-OP2 only)
  • 3D printable gears (alternative for NimbRo-OP2 and default for NimbRo-OP2X)

Authors & License

The NimbRo-OP2(X) robots have been developed at the Autonomous Intelligent Systems Group, Rheinische Friedrich-Wilhelms-Universität Bonn. The CAD drawings in 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).

Reference & Citation

To reference and/or cite the work contained in this repository, please use the following publications:

Grzegorz Ficht, Philipp Allgeuer, Hafez Farazi, and Sven Behnke: NimbRo-OP2: Grown-up 3D Printed Open Humanoid Platform for Research In Proceedings of IEEE-RAS International Conference on Humanoid Robots (Humanoids), Birmingham, UK, November 2017.

Grzegorz Ficht, Hafez Farazi, Andre Brandenburger, Diego Rodriguez, Dmytro Pavlichenko, Philipp Allgeuer, Mojtaba Hosseini, and Sven Behnke: NimbRo-OP2X: Adult-sized Open-source 3D Printed Humanoid Robot Accepted for IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), Beijing, China, to appear November 2018.


To see the NimbRo-OP2 in action, please see the video at: A video displaying the NimbRo-OP2X can be seen here:


For more information, take a look at our webpages:


2017 NimbRo-OP2 hardware release



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