Wolfgang-OP: A Robust Humanoid Robot Platform for Research and Competitions

We present our open humanoid robot platform Wolfgang. The described hardware focuses on four aspects. Firstly, the robustness against falls is improved by integrating 3D printed elastic elements. Additionally, a high control loop frequency is achieved by using new custom control electronics. Furthermore, a torsion spring is applied to reduce the torque on the knee joints. Finally, computational power is provided through the combination of different processors. The paper also presents the ROS-based software stack that is used in RoboCup.