SUSTAINA-OP2™ is a customizable humanoid robot for research and competition.
Compared to the previous SUSTAINA-OP™, accessibility has been improved by making most mechanical and electronic parts available for purchase through an e-commerce site or as custom-made parts through an external service.
SUSTAINA-OP2™ is used by CIT Brains, a team competing in the RoboCup Humanoid League KidSize category, and they became world champions at RoboCup 2024 in Eindhoven.
RoboCup2024 Eindhoven Soccer Humanoid League KidSize Final vs. KURA(UAE) video
Note
The actuator used for this robot is the PMX series made by Kondo Kagaku in Japan. These actuators can be available for purchase from outside Japan through RT Corporation, sales agent in Japan.
The open sources for SUSTAINA-OP2™ are the following elements:
- Mechanical Design — 3D models designed in Autodesk Inventor, etc: SUSTAINA-OP2
- Electrical Design — PCBs designed in Autodesk Eagle, etc: SUSTAINA-OP2-Electronics
- Firmware — Firmware to be written to Arduino, etc: SUSTAINA-OP2-Firmware
Note
Except for the firmware written to the microcontroller board (Arduino board), most of the software developed by the RoboCup Humanoid League team CIT Brains is not publicly available.
To reference and/or cite the work contained in this repository, please use the following publications:
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Kubotera, M.: RoboCup 2024 Humanoid KidSize Winner CIT Brains: The Challenge with the New Robot SUSTAINA-OP2™. RoboCup 2024: Robot World Cup XXVII, pp. 448–460 (2025) Download the paper (PDF)
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Kubotera, M. and Hayashibara, Y.: SUSTAINA-OP2™: Customizable Kid-sized Open Hardware Platform Humanoid Robot for Research and Competition. 2024 IEEE-RAS 23rd International Conference on Humanoid Robots (Humanoids), pp. 706-713 (2024) Download the paper (PDF)
- Kubotera, M. and Hayashibara, Y.: SUSTAINA-OP2™: Self-buildable and Outsourceable Kid-sized Humanoid Robot Platform for Research and Competition. RSJ2024, 2H2-05 (2024) Download the paper (PDF)
SUSTAINA-OP2™ has evolved through its challenges in the RoboCup Humanoid League. Drawing inspiration from various open-source hardware, we've designed and developed this robot. I'd like to express my gratitude to all those who contributed to this endeavor.
If you have any questions, please contact the designer of this product, Masato Kubodera, by E-mail.