Yes, it is possible to register without domain name.in opensips sip server. Config you have to set:
modparam("auth_db", "use_domain", 0)
If true (not 0), domain will be also used when looking up in the subscriber table. If you have a multi-domain setup, it is strongly recommended to turn on this parameter to avoid username overlapping between domains.
So it depends what your server configuration is. Basically it is asking for you sip server domain name. If it doesn't have any domain name then it must have to enable domain name lookup.