NimbRo AdultSize Team Description Paper 2019

This paper presents the latest improvements of team NimbRo AdultSize of the Rheinische Friedrich-Wilhelms-Universität Bonn, Germany. This paper aims to serve as qualification material for the competition held in Sydney from July 2–8. The design and construction of our robots was developed entirely by our team members. This paper focuses mainly on the hardware and software components that played a key role for winning the Humanoid League 2018, in Montreal. These components include: mechanical design, robot perception, and gait optimization.