http://www.urbiforge.org/index.php/Main/UrbiOpenSourceContestProjects
Urbi is an advanced robotics operating system (by Gostai company) , already available for a large number of robots like Aldebaran® Nao, Segway® RMP or Lego® Mindstorm, among 15 other different robots. In May 2010, Gostai decided to open Urbi’s code base to the community with a GNU AGPL license, making it completely open source.
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