NimbRo Robots Winning RoboCup 2018 Humanoid AdultSize Soccer Competitions
Hafez Farazi, Grzegorz Ficht, Philipp Allgeuer, Dmytro Pavlichenko,, Diego Rodriguez, Andre Brandenburger, Mojtaba Hosseini, and Sven Behnke
TL;DR
This paper details the hardware and software innovations, including deep learning perception and 3D printing, that enabled the NimbRo team to win RoboCup 2018 in the humanoid adult-size soccer competitions.
Contribution
It introduces new deep-learning visual perception methods and a fully 3D printed robot design that contributed to winning RoboCup 2018.
Findings
NimbRo won RoboCup 2018 AdultSize soccer competitions
Deep-learning perception improved robot decision-making
3D printed robot design enhanced performance and robustness
Abstract
Over the past few years, the Humanoid League rules have changed towards more realistic and challenging game environments, which encourage teams to advance their robot soccer performances. In this paper, we present the software and hardware designs that led our team NimbRo to win the competitions in the AdultSize league -- including the soccer tournament, the drop-in games, and the technical challenges at RoboCup 2018 in Montreal. Altogether, this resulted in NimbRo winning the Best Humanoid Award. In particular, we describe our deep-learning approaches for visual perception and our new fully 3D printed robot NimbRo-OP2X.
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Taxonomy
TopicsRobotic Locomotion and Control · Advanced Neural Network Applications · Robotics and Sensor-Based Localization