With academic and commercial interest for humanoid robots peaking, multiple platforms are being developed. Through a high level of customization, they showcase impressive performance. 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.
@article{arxiv.2509.09364,
title = {AGILOped: Agile Open-Source Humanoid Robot for Research},
author = {Grzegorz Ficht and Luis Denninger and Sven Behnke},
journal= {arXiv preprint arXiv:2509.09364},
year = {2025}
}
Comments
10th IEEE International Conference on Advanced Robotics and Mechatronics (ARM), Portsmouth, UK, August 2025