RoboCup 2022 AdultSize Winner NimbRo: Upgraded Perception, Capture Steps Gait and Phase-based In-walk Kicks
Dmytro Pavlichenko, Grzegorz Ficht, Arash Amini, Mojtaba Hosseini,, Raphael Memmesheimer, Angel Villar-Corrales, Stefan M. Schulz, Marcell, Missura, Maren Bennewitz, Sven Behnke
TL;DR
This paper details the upgrades to the NimbRo humanoid robot system, including vision, gait, and kicking techniques, which led to winning RoboCup 2022 competitions and the Best Humanoid award.
Contribution
The paper introduces hardware and algorithmic improvements such as enhanced vision, Capture Steps gait, and phase-based in-walk kicks, advancing humanoid robot soccer capabilities.
Findings
Won RoboCup 2022 Soccer Tournament, Drop-in Games, and Technical Challenges
Achieved the Best Humanoid award in RoboCup 2022
Demonstrated improved perception and walking performance
Abstract
Beating the human world champions by 2050 is an ambitious goal of the Humanoid League that provides a strong incentive for RoboCup teams to further improve and develop their systems. In this paper, we present upgrades of our system which enabled our team NimbRo to win the Soccer Tournament, the Drop-in Games, and the Technical Challenges in the Humanoid AdultSize League of RoboCup 2022. Strong performance in these competitions resulted in the Best Humanoid award in the Humanoid League. The mentioned upgrades include: hardware upgrade of the vision module, balanced walking with Capture Steps, and the introduction of phase-based in-walk kicks.
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Taxonomy
TopicsRobotic Locomotion and Control · Autonomous Vehicle Technology and Safety · Context-Aware Activity Recognition Systems