Introduction

This is the repository for the RoboCup @home team of the Ohm university of applied sciences.
Our goal is to participate in the @home league of the Robocup Federation at the RoboCup 2027 in Nuremberg.
With our industry partner Isento we strive to further research and development in the field of humanoid household robots.

Description

We are a student led robotics team based in Nuremberg at the university of applied sciences.
As middleware we use ROS2, most of the software is written in C++ and Python.

Upper part

We use the pib4s advanced 3D printed robot as the upper part of our semi-humanoid robot.
As software backend for the upper part we use the isento backend as a foundation for our own packages.

Currently working on:

Hardware:

• Construction of the base (plan is to use an evocortex base)
• Subsequent integration of Lidars for 2D mapping
• Acquiring and integrating an capable computing unit
• Developing an onboard power supply with hot plug functionality
• Improving the gripper and/or the tendon actuators

Software:

• Integration of the NAVStack and the SLAM Toolbox
• Audiovisual human machine interaction
• Optimizing kinematics of the arms
• Advanced Object Recognition
• Development of a state machin

Table of contents

This repo consists of the following folders:

• 01_Obsidian: Our knowledge base and Wiki
• 02_Mechanik: Everything thats structurally important
• 03_Software: Behind the scenes
• 04_Elektronik: ECAD Data
• 05_Archiv: Documents that need to be here

Important informations

• There is a possibility that we use this repo for CAD Data => Use GIT LFS !!!

History

16/10/2025: Construction start for the pib 3D printable Robot as a starting point for the team.
24/03/2026: Official kick-off meeting for the newly formed @home team with 30 participants.