Performance Evaluation of a Frugal Open-Source Humanoid Robotic Platform

Performance Evaluation of a Frugal Open-Source Humanoid Robotic Platform | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article Performance Evaluation of a Frugal Open-Source Humanoid Robotic Platform Harish V. Mekali, Girish K, Ajaykumar D, Sushma S S, Sudarshan S. Harithas, and 4 more This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-8783489/v1 This work is licensed under a CC BY 4.0 License Status: Posted Version 1 posted You are reading this latest preprint version Abstract This paper presents the design, development, and experimental validation of a frugal humanoid robotic platform named Autonomous Robot Development Open-source Platform (ARDOP). The platform is conceived as a modular, fully integrated, open-source, and cost-conscious humanoid system intended to support applied research and laboratory experimentation. In contrast to proprietary humanoid platforms, ARDOP emphasizes accessibility, reproducibility, and coherent subsystem integration within a unified Robot Operating System (ROS) framework.ARDOP is organized around three core functional subsystems: perception, manipulation, and navigation. The perception subsystem enables object detection and three-dimensional spatial localization using RGB--D sensing and convolutional neural network–based techniques. Manipulation is achieved through coordinated multi-degree-of-freedom robotic arms that support controlled pick-and-place operations within the workspace. Autonomous navigation is realized through obstacle-aware localization and map-based path planning for indoor environments.The platform is validated through simulation and hardware experiments that assess subsystem functionality and system-level coordination. Experimental results demonstrate reliable manipulation accuracy, stable navigation performance, and consistent operation across repeated trials. Rather than emphasizing algorithmic novelty, this work focuses on system-level integration, experimental validation, and practical accessibility, providing a reproducible humanoid robotic platform for applied research and educational use. Humanoid robotics Robotic platforms ROS System integration Manipulation Navigation Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Posted Version 1 posted You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. Our growing team is made up of researchers and industry professionals working together to solve the most critical problems facing scientific publishing. Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-8783489","acceptedTermsAndConditions":true,"allowDirectSubmit":true,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":592319710,"identity":"60f21946-73c9-4e7d-a127-d840b05265a8","order_by":0,"name":"Harish V. 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The platform is conceived as a modular, fully integrated, open-source, and cost-conscious humanoid system intended to support applied research and laboratory experimentation. In contrast to proprietary humanoid platforms, ARDOP emphasizes accessibility, reproducibility, and coherent subsystem integration within a unified Robot Operating System (ROS) framework.ARDOP is organized around three core functional subsystems: perception, manipulation, and navigation. The perception subsystem enables object detection and three-dimensional spatial localization using RGB--D sensing and convolutional neural network\u0026ndash;based techniques. Manipulation is achieved through coordinated multi-degree-of-freedom robotic arms that support controlled pick-and-place operations within the workspace. Autonomous navigation is realized through obstacle-aware localization and map-based path planning for indoor environments.The platform is validated through simulation and hardware experiments that assess subsystem functionality and system-level coordination. Experimental results demonstrate reliable manipulation accuracy, stable navigation performance, and consistent operation across repeated trials. Rather than emphasizing algorithmic novelty, this work focuses on system-level integration, experimental validation, and practical accessibility, providing a reproducible humanoid robotic platform for applied research and educational use.\u003c/p\u003e","manuscriptTitle":"Performance Evaluation of a Frugal Open-Source Humanoid Robotic Platform","msid":"","msnumber":"","nonDraftVersions":[{"code":1,"date":"2026-02-18 08:06:53","doi":"10.21203/rs.3.rs-8783489/v1","editorialEvents":[{"type":"communityComments","content":0}],"status":"published","journal":{"display":true,"email":"[email protected]","identity":"researchsquare","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":true,"externalIdentity":"","sideBox":"","snPcode":"","submissionUrl":"/submission","title":"Research Square","twitterHandle":"researchsquare","acdcEnabled":true,"dfaEnabled":false,"editorialSystem":"","reportingPortfolio":"","inReviewEnabled":false,"inReviewRevisionsEnabled":true}}],"origin":"","ownerIdentity":"6a98f633-9db7-41ad-8ec5-90ea94c42873","owner":[],"postedDate":"February 18th, 2026","published":true,"recentEditorialEvents":[],"rejectedJournal":[],"revision":"","amendment":"","status":"posted","subjectAreas":[],"tags":[],"updatedAt":"2026-03-18T08:27:25+00:00","versionOfRecord":[],"versionCreatedAt":"2026-02-18 08:06:53","video":"","vorDoi":"","vorDoiUrl":"","workflowStages":[]},"version":"v1","identity":"rs-8783489","journalConfig":"researchsquare"},"__N_SSP":true},"page":"/article/[identity]/[[...version]]","query":{"redirect":"/article/rs-8783489","identity":"rs-8783489","version":["v1"]},"buildId":"XKTyCvWXoU3ODBz1xrDgd","isFallback":false,"isExperimentalCompile":false,"dynamicIds":[84888],"gssp":true,"scriptLoader":[]}