  The use of standard platforms in the field of humanoid robotics can lower the
entry barrier for new research groups, and accelerate research by the
facilitation of code sharing. Numerous humanoid standard platforms exist in the
lower size ranges of up to 60cm, but beyond that humanoid robots scale up
quickly in weight and price, becoming less affordable and more difficult to
operate, maintain and modify. The igus Humanoid Open Platform is an affordable,
fully open-source platform for humanoid research. At 92cm, the robot is capable
of acting in an environment meant for humans, and is equipped with enough
sensors, actuators and computing power to support researchers in many fields.
The structure of the robot is entirely 3D printed, leading to a lightweight and
visually appealing design. This paper covers the mechanical and electrical
aspects of the robot, as well as the main features of the corresponding
open-source ROS software. At RoboCup 2016, the platform was awarded the first
International HARTING Open Source Prize.
