The SUSTAINA-OP™ series is a customizable kid-sized open hardware platform humanoid robot for research and competitions.

SUSTAINA-OP™ (RoboCup2022 Edition) is used by CIT Brains, a team competing in the RoboCup Humanoid League KidSize category, and they became world champions at RoboCup 2022 in Bangkok, Thailand.

RoboCup2022 Soccer Humanoid League KidSize Final vs. Rhoban Football Club (France) video

For information about its successor SUSTAINA-OP2™, click here: https://github.com/SUSTAINA-OP2

The open sources for SUSTAINA-OP™ are the following elements:

• Mechanical Design — 3D models designed in Autodesk Inventor, etc: SUSTAINA-OP

• Electrical Design —

  • RoboCup2023 Edition

    • SUSTAINA-Core-Board
    • A203-V2-Expansion-Board
    • IMU-Measurement-and-Transmission-Module
    • USB-to-Quad-RS-485-Conv-Module
    • Power-Monitor-Module
    • USB-HID-Control-Switches-Module
    • Buck-Boost-Switch-Mode-Power-Supply-Module
    • Quad-Load-Cell-Amplifier-to-RS-485-Conv-Module
    • ICM-42688-P-Module

  • RoboCup2023 Edition

    • MainBoard_ver2_2
    • EN715_ExpansionBoard_ver1_1
    • StartStopSwitch_ver3_0

• Simulator — Simulation environment for SUSTAINA-OP™ (RoboCup2023 Edition) in Webots: SUSTAINA-OP_Webots

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

• Conference Proceedings (Peer-reviewed) —

  • Kubotera, M. and Hayashibara, Y.: SUSTAINA-OP™: Kid-sized Open Hardware Platform Humanoid Robot with Emphasis on Sustainability. RoboCup 2023: Robot World Cup XXVI, pp.166–178 (2024) Poster (PDF) Springer Nature

• Conference Proceedings (Non-peer-reviewed) —

  • 久保寺真仁，林原靖男，"SUSTAINA-OP : ロボカップ用キッドサイズ ハードウェアプラットフォーム ヒューマノイドロボット"，日本機械学会ロボティクス・メカトロニクス講演会'23予稿集，2A1-A15(2023) Manuscript (PDF) Poster (PDF) J-STAGE

    • English: Kubotera, M. and Hayashibara, Y.: SUSTAINA-OP: Kid-sized Open Hardware Platform Humanoid Robot for RoboCup. ROBOMECH2023, 2A1-A15(2023)

  • 久保寺真仁，野口裕貴，井上叡，横尾陸，桑野雅久，林原靖男，"ロボカップ 2023 サッカー ヒューマノイドリーグに向けた自律型二足歩行ロボットの開発"，第24回計測自動制御学会システムインテグレーション部門講演会予稿集，3H2-01(2023) Manuscript (PDF) Poster (PDF)

    • English: Kubotera, M., Noguchi, H., Inoue, S., Yokoo, R., Kuwano, G., and Hayashibara, Y.: Development of the Autonomous Bipedal Robot for the RoboCup 2023 Soccer Humanoid League. SI2023, 3H2-01(2023)

  • 久保寺真仁，野口裕貴，井上叡，林原靖男，"SUSTAINA-OP™: 持続可能性を重視した子供サイズのオープンハードウェアプラットフォームヒューマノイドロボット―ハードウェアの更新・評価とシミュレーションモデルの公開―"，日本機械学会ロボティクス・メカトロニクス講演会'24予稿集，2P2-T07(2024) Manuscript (PDF) Poster (PDF)

    • English: Kubotera, M., Noguchi, H., Inoue, S., and Hayashibara, Y.: SUSTAINA-OP™: Kid-sized Open Hardware Platform Humanoid Robot with Emphasis on Sustainability - Update and Evaluate Hardware, and Release Simulation Model. ROBOMECH2024, 2P2-T07(2024)

SUSTAINA-OP™ series has evolved through its challenges in the RoboCup Humanoid League. Drawing inspiration from various open-source hardware, we've designed and developed this robot. I'd like to express my gratitude to all those who contributed to this endeavor.

Please review the license for each repository before use.