SUSTAINA-OP™: Kid-Sized Open Hardware Platform Humanoid Robot with Emphasis on Sustainability

This paper presents the approach to designing and constructing SUSTAINA-OP™, a robot developed to participate in the RoboCup Humanoid League KidSize. The robot was developed as a humanoid hardware platform with the objective of overcoming the barrier of high hardware development costs associated with participation in the RoboCup Humanoid League. The concept of this platform is to create a “sustainable” system that is user-friendly for both new participants and software developers who employ multiple robots, facilitating long-term development. To achieve this, our design focused on enhancing robustness, minimizing resources required for repair and maintenance, and increasing versatility. Moreover, the system is equipped with a high-performance System-on-Module to support software development, considering the growing importance of deep learning-based recognition and other applications. The robot featured in this paper was utilized by the CIT Brains team from Chiba Institute of Technology, which emerged victorious in the Humanoid League of RoboCup2022. The data for the developed robot is available on GitHub.