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2023 | OriginalPaper | Chapter

RoboCup 2022 AdultSize Winner NimbRo: Upgraded Perception, Capture Steps Gait and Phase-Based In-Walk Kicks

Authors : Dmytro Pavlichenko, Grzegorz Ficht, Arash Amini, Mojtaba Hosseini, Raphael Memmesheimer, Angel Villar-Corrales, Stefan M. Schulz, Marcell Missura, Maren Bennewitz, Sven Behnke

Published in: RoboCup 2022: Robot World Cup XXV

Publisher: Springer International Publishing

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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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previous chapter Champion Paper Team AutonOHM

next chapter HELIOS2022: RoboCup 2022 Soccer Simulation 2D Competition Champion

RoboCup 2022 NimbRo highlights video: https://youtu.be/DfzkMawtSFA.

NimbRo-OP2X hardware: https://github.com/NimbRo/nimbro-op2.

NimbRo-OP2X software: https://github.com/AIS-Bonn/humanoid_op_ros.

https://humanoid.robocup.org/hl-2022.

Online in-walk kick graph: https://www.desmos.com/calculator/v7wlvjtchl.

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Title: RoboCup 2022 AdultSize Winner NimbRo: Upgraded Perception, Capture Steps Gait and Phase-Based In-Walk Kicks
Authors: Dmytro Pavlichenko
Grzegorz Ficht
Arash Amini
Mojtaba Hosseini
Raphael Memmesheimer
Angel Villar-Corrales
Stefan M. Schulz
Marcell Missura
Maren Bennewitz
Sven Behnke
Publisher: Springer International Publishing
Book: RoboCup 2022: Robot World Cup XXV
Print ISBN: 978-3-031-28468-7

Electronic ISBN: 978-3-031-28469-4

Copyright Year: 2023
DOI: https://doi.org/10.1007/978-3-031-28469-4_20

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