RoboCup 2023 Humanoid AdultSize Winner NimbRo: NimbRoNet3 Visual Perception and Responsive Gait with Waveform In-walk Kicks
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arXiv
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| Format: | Preprint |
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2024
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| author | Pavlichenko, Dmytro Ficht, Grzegorz Villar-Corrales, Angel Denninger, Luis Brocker, Julia Sinen, Tim Schreiber, Michael Behnke, Sven |
| author_facet | Pavlichenko, Dmytro Ficht, Grzegorz Villar-Corrales, Angel Denninger, Luis Brocker, Julia Sinen, Tim Schreiber, Michael Behnke, Sven |
| contents | The RoboCup Humanoid League holds annual soccer robot world championships towards the long-term objective of winning against the FIFA world champions by 2050. The participating teams continuously improve their systems. This paper presents the upgrades to our humanoid soccer system, leading our team NimbRo to win the Soccer Tournament in the Humanoid AdultSize League at RoboCup 2023 in Bordeaux, France. The mentioned upgrades consist of: an updated model architecture for visual perception, extended fused angles feedback mechanisms and an additional COM-ZMP controller for walking robustness, and parametric in-walk kicks through waveforms. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2401_05909 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | RoboCup 2023 Humanoid AdultSize Winner NimbRo: NimbRoNet3 Visual Perception and Responsive Gait with Waveform In-walk Kicks Pavlichenko, Dmytro Ficht, Grzegorz Villar-Corrales, Angel Denninger, Luis Brocker, Julia Sinen, Tim Schreiber, Michael Behnke, Sven Robotics The RoboCup Humanoid League holds annual soccer robot world championships towards the long-term objective of winning against the FIFA world champions by 2050. The participating teams continuously improve their systems. This paper presents the upgrades to our humanoid soccer system, leading our team NimbRo to win the Soccer Tournament in the Humanoid AdultSize League at RoboCup 2023 in Bordeaux, France. The mentioned upgrades consist of: an updated model architecture for visual perception, extended fused angles feedback mechanisms and an additional COM-ZMP controller for walking robustness, and parametric in-walk kicks through waveforms. |
| title | RoboCup 2023 Humanoid AdultSize Winner NimbRo: NimbRoNet3 Visual Perception and Responsive Gait with Waveform In-walk Kicks |
| topic | Robotics |
| url | https://arxiv.org/abs/2401.05909 |