Grown-up NimbRo Robots Winning RoboCup 2017 Humanoid AdultSize Soccer Competitions
Grzegorz Ficht, Dmytro Pavlichenko, Philipp Allgeuer, Hafez Farazi,, Diego Rodriguez, Andr\'e Brandenburger, Johannes K\"ursch, Michael Schreiber,, Sven Behnke
TL;DR
This paper details the design, perception, and behavior strategies of upgraded humanoid robots that won the RoboCup 2017 AdultSize soccer tournament, demonstrating advances in mechatronics and autonomous gameplay.
Contribution
Introduction of upgraded robots Copedo and NimbRo-OP2 with innovative perception and behavior methods, leading to winning the RoboCup 2017 AdultSize soccer competition.
Findings
Robots achieved high scores and won the tournament
Successful implementation of compassless localization
Robots excelled in technical challenges
Abstract
The ongoing evolution of the RoboCup Humanoid League led in 2017 to the introduction of one vs. one soccer games for the AdultSize robots, which motived our team NimbRo to enter this category. In this paper, we present the mechatronic design of our upgraded robot Copedo and the newly developed NimbRo-OP2, which received the RoboCup Design Award. We also describe improved approaches to visual perception of the game situation, including compassless localization on a soccer field with symmetric appearance, and the generation of soccer behaviors. At RoboCup 2017 in Nagoya, our robots played very well, winning the AdultSize soccer tournament with high scores. Our robots also won the technical challenges and we present the developed solutions.
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Taxonomy
TopicsRobotic Locomotion and Control · Modular Robots and Swarm Intelligence · Robotics and Automated Systems